{
    "0": {
        "acceleration": [
            0.0001771065581124276,
            0.014080312103033066,
            -0.6276071071624756
        ],
        "angular_velocity": [
            -0.015493771061301231,
            -0.02615058608353138,
            -0.0004592307668644935
        ],
        "forward_vector": [
            -0.09335301071405411,
            0.9954127073287964,
            0.02094687521457672
        ],
        "right_vector": [
            -0.9956307411193848,
            -0.09337816387414932,
            0.00022365525364875793
        ],
        "location": [
            973.8739013671875,
            3291.0732421875,
            368.6194763183594
        ],
        "rotation": [
            -0.012817314825952053,
            1.2002553939819336,
            95.35771179199219
        ],
        "velocity": [
            6.775170186301693e-05,
            -0.0028836545534431934,
            0.14178667962551117
        ],
        "speed": 0.002884450359548418,
        "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": 104.96334838867188,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087158203125,
                3394.71044921875,
                370.11236572265625
            ],
            "velocity": [
                0.02979888767004013,
                -0.0008439861121587455,
                0.2642974555492401
            ],
            "speed_kmh": 0.9575041149427838,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.2680605351924896,
                "transform": {
                    "location": {
                        "x": 955.87841796875,
                        "y": 3403.591552734375,
                        "z": 370.1629638671875
                    },
                    "rotation": {
                        "roll": 0.8492583632469177,
                        "pitch": 0.4291885793209076,
                        "yaw": 99.13800811767578
                    }
                },
                "velocity": {
                    "x": 0.003304203972220421,
                    "y": -0.0015533012337982655,
                    "z": 0.2680356800556183
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.26597335934638977,
                "transform": {
                    "location": {
                        "x": 957.3087158203125,
                        "y": 3394.71044921875,
                        "z": 370.11236572265625
                    },
                    "rotation": {
                        "roll": 1.6145589351654053,
                        "pitch": 1.2450000047683716,
                        "yaw": 99.16064453125
                    }
                },
                "velocity": {
                    "x": 0.02979888767004013,
                    "y": -0.0008439861121587455,
                    "z": 0.2642974555492401
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08572395890951157,
        "expert_target_speed": 1.3410192629541622,
        "target_point": [
            51.6073866056885,
            2.4064092573183355
        ],
        "target_point_next": [
            102.49610496610906,
            5.772911566991098
        ]
    },
    "5": {
        "acceleration": [
            -0.001089090364985168,
            0.005600821226835251,
            -0.264931321144104
        ],
        "angular_velocity": [
            0.003924937453120947,
            -0.003654870204627514,
            1.549757507746108e-05
        ],
        "forward_vector": [
            -0.09335393458604813,
            0.995413601398468,
            0.020900754258036613
        ],
        "right_vector": [
            -0.9956308603286743,
            -0.09337683767080307,
            0.00012034735846100375
        ],
        "location": [
            973.8739013671875,
            3291.072998046875,
            368.64019775390625
        ],
        "rotation": [
            -0.0068969023413956165,
            1.1976121664047241,
            95.35775756835938
        ],
        "velocity": [
            0.0001648866746108979,
            -0.0009128081728704274,
            0.042708829045295715
        ],
        "speed": 0.0009275809268863219,
        "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": 14.82357406616211,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                972.2531127929688,
                3305.804931640625,
                368.92572021484375
            ],
            "velocity": [
                -0.0011492313351482153,
                0.00911837536841631,
                -0.5041758418083191
            ],
            "speed_kmh": 1.815334562759251,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5042595863342285,
                "transform": {
                    "location": {
                        "x": 972.2531127929688,
                        "y": 3305.804931640625,
                        "z": 368.92572021484375
                    },
                    "rotation": {
                        "roll": -0.002868675859645009,
                        "pitch": 1.0445339679718018,
                        "yaw": 97.1997299194336
                    }
                },
                "velocity": {
                    "x": -0.0011492313351482153,
                    "y": 0.00911837536841631,
                    "z": -0.5041758418083191
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4548170566558838,
                "transform": {
                    "location": {
                        "x": 970.1559448242188,
                        "y": 3320.498779296875,
                        "z": 369.1890563964844
                    },
                    "rotation": {
                        "roll": -0.0005188416689634323,
                        "pitch": 0.9241108894348145,
                        "yaw": 99.04492950439453
                    }
                },
                "velocity": {
                    "x": -0.0010848863748833537,
                    "y": 0.007302069570869207,
                    "z": -0.4547571539878845
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4345535933971405,
                "transform": {
                    "location": {
                        "x": 978.266845703125,
                        "y": 3276.453125,
                        "z": 368.3382263183594
                    },
                    "rotation": {
                        "roll": -0.000701930548530072,
                        "pitch": 1.3048324584960938,
                        "yaw": 93.5093994140625
                    }
                },
                "velocity": {
                    "x": -0.0007119026849977672,
                    "y": 0.009365384466946125,
                    "z": -0.434452086687088
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3640974462032318,
                "transform": {
                    "location": {
                        "x": 975.4774780273438,
                        "y": 3306.212158203125,
                        "z": 368.9373474121094
                    },
                    "rotation": {
                        "roll": -0.0011902506230399013,
                        "pitch": 1.0425258874893188,
                        "yaw": 97.19972229003906
                    }
                },
                "velocity": {
                    "x": -0.0009208510746248066,
                    "y": 0.006420545279979706,
                    "z": -0.36403968930244446
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3565762937068939,
                "transform": {
                    "location": {
                        "x": 973.3656005859375,
                        "y": 3321.00927734375,
                        "z": 369.1932678222656
                    },
                    "rotation": {
                        "roll": 0.0010913729202002287,
                        "pitch": 0.9291242361068726,
                        "yaw": 99.04486083984375
                    }
                },
                "velocity": {
                    "x": -0.0008048596791923046,
                    "y": 0.0055177174508571625,
                    "z": -0.3565326929092407
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.08202038705348969,
                "transform": {
                    "location": {
                        "x": 955.8781127929688,
                        "y": 3403.59033203125,
                        "z": 370.2065124511719
                    },
                    "rotation": {
                        "roll": 0.15837574005126953,
                        "pitch": 0.23760861158370972,
                        "yaw": 99.13880157470703
                    }
                },
                "velocity": {
                    "x": 0.006232679821550846,
                    "y": -0.0004111495509278029,
                    "z": 0.08178219944238663
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.037286560982465744,
                "transform": {
                    "location": {
                        "x": 957.3087158203125,
                        "y": 3394.70703125,
                        "z": 370.1436767578125
                    },
                    "rotation": {
                        "roll": 0.13244004547595978,
                        "pitch": 0.8001907467842102,
                        "yaw": 99.13956451416016
                    }
                },
                "velocity": {
                    "x": 0.01258600689470768,
                    "y": 0.0008624489419162273,
                    "z": 0.035087551921606064
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08690669387578964,
        "expert_target_speed": 1.2096510561052338,
        "target_point": [
            51.60763140086754,
            2.40634954838887
        ],
        "target_point_next": [
            102.49635216918519,
            5.772815459613
        ]
    },
    "10": {
        "acceleration": [
            7.78559478931129e-05,
            0.0017791332211345434,
            -0.08521950244903564
        ],
        "angular_velocity": [
            -0.005030565895140171,
            -0.009720864705741405,
            -5.609627260128036e-05
        ],
        "forward_vector": [
            -0.09335431456565857,
            0.9954137802124023,
            0.020890025421977043
        ],
        "right_vector": [
            -0.9956308603286743,
            -0.09337638318538666,
            8.147581684170291e-05
        ],
        "location": [
            973.8739013671875,
            3291.072998046875,
            368.6459045410156
        ],
        "rotation": [
            -0.004669239278882742,
            1.1969974040985107,
            95.35778045654297
        ],
        "velocity": [
            -2.102646976709366e-05,
            -0.00023744865029584616,
            0.010442526079714298
        ],
        "speed": 0.00023837779669714533,
        "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": 14.82331371307373,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                972.2530517578125,
                3305.804931640625,
                368.9172058105469
            ],
            "velocity": [
                -8.85726694832556e-05,
                -0.001945623429492116,
                0.10249649733304977
            ],
            "speed_kmh": 0.3690540006354571,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10251499712467194,
                "transform": {
                    "location": {
                        "x": 972.2530517578125,
                        "y": 3305.804931640625,
                        "z": 368.9172058105469
                    },
                    "rotation": {
                        "roll": -0.0022277599200606346,
                        "pitch": 1.0459272861480713,
                        "yaw": 97.1997299194336
                    }
                },
                "velocity": {
                    "x": -8.85726694832556e-05,
                    "y": -0.001945623429492116,
                    "z": 0.10249649733304977
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09423626214265823,
                "transform": {
                    "location": {
                        "x": 970.1559448242188,
                        "y": 3320.498779296875,
                        "z": 369.1819152832031
                    },
                    "rotation": {
                        "roll": -0.0012817876413464546,
                        "pitch": 0.9243841171264648,
                        "yaw": 99.04496765136719
                    }
                },
                "velocity": {
                    "x": 0.0002812219026964158,
                    "y": -0.0015643441583961248,
                    "z": 0.09422285854816437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027809860184788704,
                "transform": {
                    "location": {
                        "x": 978.2667846679688,
                        "y": 3276.45361328125,
                        "z": 368.3140563964844
                    },
                    "rotation": {
                        "roll": -0.00137322919908911,
                        "pitch": 1.3142307996749878,
                        "yaw": 93.50949096679688
                    }
                },
                "velocity": {
                    "x": -5.386973498389125e-05,
                    "y": -0.0006970553076826036,
                    "z": 0.027801070362329483
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04481438919901848,
                "transform": {
                    "location": {
                        "x": 975.4774780273438,
                        "y": 3306.21240234375,
                        "z": 368.92962646484375
                    },
                    "rotation": {
                        "roll": -0.002258285880088806,
                        "pitch": 1.0438235998153687,
                        "yaw": 97.19976043701172
                    }
                },
                "velocity": {
                    "x": 0.00014559765986632556,
                    "y": -0.0008243967313319445,
                    "z": 0.04480656981468201
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.043485794216394424,
                "transform": {
                    "location": {
                        "x": 973.3655395507812,
                        "y": 3321.00927734375,
                        "z": 369.1857604980469
                    },
                    "rotation": {
                        "roll": 0.0002928295871242881,
                        "pitch": 0.9306951761245728,
                        "yaw": 99.04492950439453
                    }
                },
                "velocity": {
                    "x": 8.147675544023514e-05,
                    "y": -0.0007677578832954168,
                    "z": 0.043478939682245255
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.01178397610783577,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.58984375,
                        "z": 370.21539306640625
                    },
                    "rotation": {
                        "roll": 0.01996714062988758,
                        "pitch": 0.17770102620124817,
                        "yaw": 99.13929748535156
                    }
                },
                "velocity": {
                    "x": 0.0006709275185130537,
                    "y": -8.685700595378876e-05,
                    "z": 0.01176454033702612
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.004317564889788628,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.14501953125
                    },
                    "rotation": {
                        "roll": -0.013549801893532276,
                        "pitch": 0.7240068316459656,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.00013864519132766873,
                    "y": -8.116327080642805e-05,
                    "z": -0.004314574878662825
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08742357790470123,
        "expert_target_speed": 1.1773838953275897,
        "target_point": [
            51.60763140086754,
            2.40634954838887
        ],
        "target_point_next": [
            102.49635216918519,
            5.772815459613
        ]
    },
    "15": {
        "acceleration": [
            -0.7683581113815308,
            7.463247776031494,
            0.1812608689069748
        ],
        "angular_velocity": [
            2.056333303451538,
            0.23979723453521729,
            -0.4614986777305603
        ],
        "forward_vector": [
            -0.09329567849636078,
            0.9953693747520447,
            0.023145632818341255
        ],
        "right_vector": [
            -0.9956359267234802,
            -0.09332242608070374,
            7.561314851045609e-05
        ],
        "location": [
            973.8709106445312,
            3291.10498046875,
            368.6471862792969
        ],
        "rotation": [
            -0.004333475138992071,
            1.326265573501587,
            95.35467529296875
        ],
        "velocity": [
            -0.06208362802863121,
            0.6472274661064148,
            0.0154758645221591
        ],
        "speed": 0.650198254190003,
        "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": 14.79122257232666,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                972.2530517578125,
                3305.8046875,
                368.9324951171875
            ],
            "velocity": [
                6.27307963441126e-05,
                -0.00046035886043682694,
                0.02356172725558281
            ],
            "speed_kmh": 0.08483870757400586,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.02356630750000477,
                "transform": {
                    "location": {
                        "x": 972.2530517578125,
                        "y": 3305.8046875,
                        "z": 368.9324951171875
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": 1.0454082489013672,
                        "yaw": 97.19979858398438
                    }
                },
                "velocity": {
                    "x": 6.27307963441126e-05,
                    "y": -0.00046035886043682694,
                    "z": 0.02356172725558281
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020504459738731384,
                "transform": {
                    "location": {
                        "x": 970.1559448242188,
                        "y": 3320.498291015625,
                        "z": 369.19586181640625
                    },
                    "rotation": {
                        "roll": -0.001006996724754572,
                        "pitch": 0.9234893321990967,
                        "yaw": 99.04496765136719
                    }
                },
                "velocity": {
                    "x": -8.898152009351179e-05,
                    "y": -0.0003911797539331019,
                    "z": 0.020500535145401955
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9164068102836609,
                "transform": {
                    "location": {
                        "x": 978.26123046875,
                        "y": 3276.521240234375,
                        "z": 368.3207702636719
                    },
                    "rotation": {
                        "roll": -0.01947025954723358,
                        "pitch": 1.5303789377212524,
                        "yaw": 93.54772186279297
                    }
                },
                "velocity": {
                    "x": -0.07815281301736832,
                    "y": 0.9118661880493164,
                    "z": 0.046836163848638535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0975677967071533,
                "transform": {
                    "location": {
                        "x": 975.4660034179688,
                        "y": 3306.292724609375,
                        "z": 368.93798828125
                    },
                    "rotation": {
                        "roll": -0.007720977999269962,
                        "pitch": 1.180222511291504,
                        "yaw": 97.2203598022461
                    }
                },
                "velocity": {
                    "x": -0.15565021336078644,
                    "y": 1.0860369205474854,
                    "z": 0.03085433878004551
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.270354151725769,
                "transform": {
                    "location": {
                        "x": 973.3458862304688,
                        "y": 3321.120849609375,
                        "z": 369.1942443847656
                    },
                    "rotation": {
                        "roll": -0.009429949335753918,
                        "pitch": 1.1302118301391602,
                        "yaw": 99.0998306274414
                    }
                },
                "velocity": {
                    "x": -0.2182323932647705,
                    "y": 1.251043677330017,
                    "z": 0.03261774033308029
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08780433982610703,
        "expert_target_speed": 1.8135487904564642,
        "target_point": [
            51.57538316165867,
            2.4090634666614106
        ],
        "target_point_next": [
            102.46392728180912,
            5.778198592882902
        ]
    },
    "20": {
        "acceleration": [
            -0.4430893063545227,
            4.729623794555664,
            0.10030694305896759
        ],
        "angular_velocity": [
            0.6485541462898254,
            0.03382766991853714,
            -0.4864225685596466
        ],
        "forward_vector": [
            -0.09411805868148804,
            0.9951539039611816,
            0.028468932956457138
        ],
        "right_vector": [
            -0.9955573081970215,
            -0.09415744245052338,
            4.312581950216554e-05
        ],
        "location": [
            973.8408203125,
            3291.434326171875,
            368.6531982421875
        ],
        "rotation": [
            -0.0024719294160604477,
            1.6313700675964355,
            95.40275573730469
        ],
        "velocity": [
            -0.1768651157617569,
            1.9199994802474976,
            0.04037785530090332
        ],
        "speed": 1.928128437974006,
        "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": 14.667852401733398,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                972.223876953125,
                3306.010009765625,
                368.93756103515625
            ],
            "velocity": [
                -0.28792810440063477,
                1.9266811609268188,
                0.03472497686743736
            ],
            "speed_kmh": 7.014190254261345,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9483861923217773,
                "transform": {
                    "location": {
                        "x": 972.223876953125,
                        "y": 3306.010009765625,
                        "z": 368.93756103515625
                    },
                    "rotation": {
                        "roll": -0.002166783669963479,
                        "pitch": 1.082304835319519,
                        "yaw": 97.35961151123047
                    }
                },
                "velocity": {
                    "x": -0.28792810440063477,
                    "y": 1.9266811609268188,
                    "z": 0.03472497686743736
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.116787910461426,
                "transform": {
                    "location": {
                        "x": 970.1177368164062,
                        "y": 3320.71826171875,
                        "z": 369.2023620605469
                    },
                    "rotation": {
                        "roll": 0.005108685232698917,
                        "pitch": 0.7385278344154358,
                        "yaw": 99.10677337646484
                    }
                },
                "velocity": {
                    "x": -0.3505878746509552,
                    "y": 2.0872881412506104,
                    "z": 0.03326714411377907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8812222480773926,
                "transform": {
                    "location": {
                        "x": 978.2333374023438,
                        "y": 3276.880126953125,
                        "z": 368.3326721191406
                    },
                    "rotation": {
                        "roll": -0.01440431922674179,
                        "pitch": 1.7063177824020386,
                        "yaw": 93.77073669433594
                    }
                },
                "velocity": {
                    "x": -0.1489633023738861,
                    "y": 1.8745583295822144,
                    "z": 0.05327419191598892
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2193102836608887,
                "transform": {
                    "location": {
                        "x": 975.4066772460938,
                        "y": 3306.7119140625,
                        "z": 368.9470520019531
                    },
                    "rotation": {
                        "roll": -0.0034484209027141333,
                        "pitch": 1.2159785032272339,
                        "yaw": 97.39120483398438
                    }
                },
                "velocity": {
                    "x": -0.30945128202438354,
                    "y": 2.1972358226776123,
                    "z": 0.04162712022662163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.650434970855713,
                "transform": {
                    "location": {
                        "x": 973.263671875,
                        "y": 3321.606201171875,
                        "z": 369.20355224609375
                    },
                    "rotation": {
                        "roll": -0.0037231193855404854,
                        "pitch": 1.2074612379074097,
                        "yaw": 99.2879409790039
                    }
                },
                "velocity": {
                    "x": -0.4411618411540985,
                    "y": 2.613091468811035,
                    "z": 0.04398208484053612
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08439802378416061,
        "expert_target_speed": 3.081406036912276,
        "target_point": [
            51.24666706129592,
            2.366918108247729
        ],
        "target_point_next": [
            102.13801519946924,
            5.693429621301714
        ]
    },
    "25": {
        "acceleration": [
            -0.6747150421142578,
            7.620477676391602,
            0.15651807188987732
        ],
        "angular_velocity": [
            0.9249156713485718,
            0.12306807935237885,
            -0.3264075517654419
        ],
        "forward_vector": [
            -0.09291157126426697,
            0.9951897859573364,
            0.031061537563800812
        ],
        "right_vector": [
            -0.9956702589988708,
            -0.0929560735821724,
            -1.1386348887754139e-05
        ],
        "location": [
            973.7807006835938,
            3292.091064453125,
            368.6662292480469
        ],
        "rotation": [
            0.0006527046789415181,
            1.7799813747406006,
            95.33370971679688
        ],
        "velocity": [
            -0.31221896409988403,
            3.442425489425659,
            0.07033158838748932
        ],
        "speed": 3.4565552117377054,
        "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": 14.63161849975586,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                972.1359252929688,
                3306.627197265625,
                368.94873046875
            ],
            "velocity": [
                -0.4231724143028259,
                2.883066415786743,
                0.05098673701286316
            ],
            "speed_kmh": 10.491851819698233,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7432332038879395,
                "transform": {
                    "location": {
                        "x": 976.1461791992188,
                        "y": 3276.578125,
                        "z": 368.6835021972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2882555723190308,
                        "yaw": 99.8551025390625
                    }
                },
                "velocity": {
                    "x": -0.4422153830528259,
                    "y": 2.545560598373413,
                    "z": -0.9218977093696594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9144034385681152,
                "transform": {
                    "location": {
                        "x": 972.1359252929688,
                        "y": 3306.627197265625,
                        "z": 368.94873046875
                    },
                    "rotation": {
                        "roll": 0.004575470462441444,
                        "pitch": 1.0655299425125122,
                        "yaw": 97.659912109375
                    }
                },
                "velocity": {
                    "x": -0.4231724143028259,
                    "y": 2.883066415786743,
                    "z": 0.05098673701286316
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.32399845123291,
                "transform": {
                    "location": {
                        "x": 970.0015258789062,
                        "y": 3321.40576171875,
                        "z": 369.21295166015625
                    },
                    "rotation": {
                        "roll": 0.006224471144378185,
                        "pitch": 0.7741814255714417,
                        "yaw": 99.27841186523438
                    }
                },
                "velocity": {
                    "x": -0.5612139701843262,
                    "y": 3.27585506439209,
                    "z": 0.05271850526332855
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8839080333709717,
                "transform": {
                    "location": {
                        "x": 978.1875610351562,
                        "y": 3277.4638671875,
                        "z": 368.34722900390625
                    },
                    "rotation": {
                        "roll": -0.011016853153705597,
                        "pitch": 1.733290195465088,
                        "yaw": 94.02749633789062
                    }
                },
                "velocity": {
                    "x": -0.23125389218330383,
                    "y": 2.873849391937256,
                    "z": 0.06661081314086914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.635303020477295,
                "transform": {
                    "location": {
                        "x": 975.30419921875,
                        "y": 3307.43115234375,
                        "z": 368.9603576660156
                    },
                    "rotation": {
                        "roll": -0.0004883140209130943,
                        "pitch": 1.24663245677948,
                        "yaw": 97.6980972290039
                    }
                },
                "velocity": {
                    "x": -0.5147584676742554,
                    "y": 3.598083019256592,
                    "z": 0.06519944965839386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.174621105194092,
                "transform": {
                    "location": {
                        "x": 973.1196899414062,
                        "y": 3322.45703125,
                        "z": 369.2176513671875
                    },
                    "rotation": {
                        "roll": 0.0001659377448959276,
                        "pitch": 1.2400275468826294,
                        "yaw": 99.44163513183594
                    }
                },
                "velocity": {
                    "x": -0.6978112459182739,
                    "y": 4.115352630615234,
                    "z": 0.066275954246521
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09011220932006836,
        "expert_target_speed": 4.574638195266159,
        "target_point": [
            50.5842934129321,
            2.4298796544514776
        ],
        "target_point_next": [
            101.47159465261079,
            5.817735423139672
        ]
    },
    "30": {
        "acceleration": [
            -0.5738425254821777,
            6.88471794128418,
            0.21218881011009216
        ],
        "angular_velocity": [
            0.2668887674808502,
            -0.04226119443774223,
            -0.5175690650939941
        ],
        "forward_vector": [
            -0.09099730849266052,
            0.995294451713562,
            0.03329424187541008
        ],
        "right_vector": [
            -0.9958467483520508,
            -0.09104492515325546,
            -8.615105616627261e-05
        ],
        "location": [
            973.6826171875,
            3293.1787109375,
            368.6880798339844
        ],
        "rotation": [
            0.004938830155879259,
            1.9079722166061401,
            95.22389221191406
        ],
        "velocity": [
            -0.46015116572380066,
            5.167698383331299,
            0.10872697830200195
        ],
        "speed": 5.188144723926068,
        "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": 14.366040229797363,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                972.0178833007812,
                3307.4453125,
                368.9635314941406
            ],
            "velocity": [
                -0.5338319540023804,
                3.620317220687866,
                0.06520488858222961
            ],
            "speed_kmh": 13.176159840514803,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.39947471022605896,
                "transform": {
                    "location": {
                        "x": 976.072998046875,
                        "y": 3277.029541015625,
                        "z": 368.30999755859375
                    },
                    "rotation": {
                        "roll": 0.16214431822299957,
                        "pitch": 0.8365273475646973,
                        "yaw": 99.62091064453125
                    }
                },
                "velocity": {
                    "x": -0.00024965673219412565,
                    "y": 0.014877226203680038,
                    "z": -0.3991974890232086
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.713967323303223,
                "transform": {
                    "location": {
                        "x": 973.5542602539062,
                        "y": 3360.794189453125,
                        "z": 369.7624206542969
                    },
                    "rotation": {
                        "roll": -0.02478027530014515,
                        "pitch": -0.9137563109397888,
                        "yaw": -80.60697937011719
                    }
                },
                "velocity": {
                    "x": 1.1132615804672241,
                    "y": -6.620497226715088,
                    "z": -0.08379215002059937
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.713886260986328,
                "transform": {
                    "location": {
                        "x": 970.345703125,
                        "y": 3360.27734375,
                        "z": 369.7624206542969
                    },
                    "rotation": {
                        "roll": -0.026031533256173134,
                        "pitch": -0.9135992527008057,
                        "yaw": -80.60758972167969
                    }
                },
                "velocity": {
                    "x": 1.1131056547164917,
                    "y": -6.620439529418945,
                    "z": -0.0839233547449112
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6600444316864014,
                "transform": {
                    "location": {
                        "x": 972.0178833007812,
                        "y": 3307.4453125,
                        "z": 368.9635314941406
                    },
                    "rotation": {
                        "roll": 0.0089769521728158,
                        "pitch": 1.0463371276855469,
                        "yaw": 97.92720031738281
                    }
                },
                "velocity": {
                    "x": -0.5338319540023804,
                    "y": 3.620317220687866,
                    "z": 0.06520488858222961
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.43475866317749,
                "transform": {
                    "location": {
                        "x": 969.8383178710938,
                        "y": 3322.3671875,
                        "z": 369.2283935546875
                    },
                    "rotation": {
                        "roll": 0.006581608671694994,
                        "pitch": 0.7997877597808838,
                        "yaw": 99.44627380371094
                    }
                },
                "velocity": {
                    "x": -0.7486746311187744,
                    "y": 4.370527744293213,
                    "z": 0.0711219385266304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.266076564788818,
                "transform": {
                    "location": {
                        "x": 978.1156616210938,
                        "y": 3278.365234375,
                        "z": 368.36737060546875
                    },
                    "rotation": {
                        "roll": -0.010986234992742538,
                        "pitch": 1.853153109550476,
                        "yaw": 94.29712677001953
                    }
                },
                "velocity": {
                    "x": -0.3456595838069916,
                    "y": 4.250964164733887,
                    "z": 0.09609588235616684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.039269924163818,
                "transform": {
                    "location": {
                        "x": 975.147216796875,
                        "y": 3308.514892578125,
                        "z": 368.9798889160156
                    },
                    "rotation": {
                        "roll": -0.0008849319419823587,
                        "pitch": 1.245450735092163,
                        "yaw": 98.0376968383789
                    }
                },
                "velocity": {
                    "x": -0.7252660989761353,
                    "y": 4.986001968383789,
                    "z": 0.08952371031045914
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.379946231842041,
                "transform": {
                    "location": {
                        "x": 972.9151611328125,
                        "y": 3323.66015625,
                        "z": 369.2374572753906
                    },
                    "rotation": {
                        "roll": 0.001511084963567555,
                        "pitch": 1.2021132707595825,
                        "yaw": 99.57138061523438
                    }
                },
                "velocity": {
                    "x": -0.9027592539787292,
                    "y": 5.302950382232666,
                    "z": 0.08697700500488281
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10036881268024445,
        "expert_target_speed": 6.197820808420389,
        "target_point": [
            49.48748764187667,
            2.528107663486468
        ],
        "target_point_next": [
            100.36820707978063,
            6.013417355398879
        ]
    },
    "35": {
        "acceleration": [
            -0.6173443794250488,
            6.076831817626953,
            0.12039408087730408
        ],
        "angular_velocity": [
            0.152790367603302,
            0.0954858809709549,
            0.3602955937385559
        ],
        "forward_vector": [
            -0.09088195860385895,
            0.9954528212547302,
            0.02853327989578247
        ],
        "right_vector": [
            -0.9958571791648865,
            -0.0909305065870285,
            0.0004056980542372912
        ],
        "location": [
            973.5563354492188,
            3294.5693359375,
            368.7171936035156
        ],
        "rotation": [
            -0.023254254832863808,
            1.6350584030151367,
            95.21647644042969
        ],
        "velocity": [
            -0.5444160103797913,
            5.901395320892334,
            0.1180586963891983
        ],
        "speed": 5.926453874435182,
        "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": 13.976877212524414,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                971.8724975585938,
                3308.44189453125,
                368.9815979003906
            ],
            "velocity": [
                -0.639832615852356,
                4.320533752441406,
                0.07747399806976318
            ],
            "speed_kmh": 15.726026285702744,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.12669937312602997,
                "transform": {
                    "location": {
                        "x": 976.0726318359375,
                        "y": 3277.03125,
                        "z": 368.3270568847656
                    },
                    "rotation": {
                        "roll": 0.14253075420856476,
                        "pitch": 1.1248228549957275,
                        "yaw": 99.62113189697266
                    }
                },
                "velocity": {
                    "x": 0.0014191392110660672,
                    "y": -0.006231921724975109,
                    "z": 0.12653805315494537
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.939204692840576,
                "transform": {
                    "location": {
                        "x": 973.8399658203125,
                        "y": 3359.109375,
                        "z": 369.7414245605469
                    },
                    "rotation": {
                        "roll": -0.017974810674786568,
                        "pitch": -0.7442241907119751,
                        "yaw": -80.3970718383789
                    }
                },
                "velocity": {
                    "x": 1.1660648584365845,
                    "y": -6.840007305145264,
                    "z": -0.08457329869270325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.940312385559082,
                "transform": {
                    "location": {
                        "x": 970.6314086914062,
                        "y": 3358.592041015625,
                        "z": 369.7414245605469
                    },
                    "rotation": {
                        "roll": -0.02056884765625,
                        "pitch": -0.744381308555603,
                        "yaw": -80.39732360839844
                    }
                },
                "velocity": {
                    "x": 1.16642427444458,
                    "y": -6.841081619262695,
                    "z": -0.08364714682102203
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.368340492248535,
                "transform": {
                    "location": {
                        "x": 971.8724975585938,
                        "y": 3308.44189453125,
                        "z": 368.9815979003906
                    },
                    "rotation": {
                        "roll": 0.008549166843295097,
                        "pitch": 1.036392331123352,
                        "yaw": 98.14766693115234
                    }
                },
                "velocity": {
                    "x": -0.639832615852356,
                    "y": 4.320533752441406,
                    "z": 0.07747399806976318
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.192633152008057,
                "transform": {
                    "location": {
                        "x": 969.6303100585938,
                        "y": 3323.587646484375,
                        "z": 369.24835205078125
                    },
                    "rotation": {
                        "roll": 0.008506938815116882,
                        "pitch": 0.8209272027015686,
                        "yaw": 99.57302856445312
                    }
                },
                "velocity": {
                    "x": -0.8761207461357117,
                    "y": 5.117482662200928,
                    "z": 0.08497987687587738
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2818284034729,
                "transform": {
                    "location": {
                        "x": 978.7681274414062,
                        "y": 3265.16015625,
                        "z": 368.072998046875
                    },
                    "rotation": {
                        "roll": 0.01087475661188364,
                        "pitch": 1.3966847658157349,
                        "yaw": 92.81629943847656
                    }
                },
                "velocity": {
                    "x": -0.2657022476196289,
                    "y": 5.273787498474121,
                    "z": 0.11949754506349564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.359134197235107,
                "transform": {
                    "location": {
                        "x": 978.016357421875,
                        "y": 3279.58935546875,
                        "z": 368.3951110839844
                    },
                    "rotation": {
                        "roll": -0.004089350812137127,
                        "pitch": 1.8463571071624756,
                        "yaw": 94.5298843383789
                    }
                },
                "velocity": {
                    "x": -0.44082579016685486,
                    "y": 5.339663505554199,
                    "z": 0.11825906485319138
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.394135475158691,
                "transform": {
                    "location": {
                        "x": 974.954345703125,
                        "y": 3309.83056640625,
                        "z": 369.0035705566406
                    },
                    "rotation": {
                        "roll": 0.004889516159892082,
                        "pitch": 1.108744502067566,
                        "yaw": 98.26148986816406
                    }
                },
                "velocity": {
                    "x": -0.7854487299919128,
                    "y": 5.335792064666748,
                    "z": 0.0953407809138298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.7473978996276855,
                "transform": {
                    "location": {
                        "x": 972.6792602539062,
                        "y": 3325.041259765625,
                        "z": 369.25982666015625
                    },
                    "rotation": {
                        "roll": 0.003916759509593248,
                        "pitch": 1.051876425743103,
                        "yaw": 99.67792510986328
                    }
                },
                "velocity": {
                    "x": -0.969269335269928,
                    "y": 5.66433572769165,
                    "z": 0.09167730063199997
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1031898483633995,
        "expert_target_speed": 6.856062964077387,
        "target_point": [
            48.09080946385681,
            2.535259700496402
        ],
        "target_point_next": [
            98.9710722674421,
            6.0272292314822735
        ]
    },
    "40": {
        "acceleration": [
            -0.9330546855926514,
            8.176555633544922,
            0.15464454889297485
        ],
        "angular_velocity": [
            0.6359274983406067,
            0.19017276167869568,
            1.1878492832183838
        ],
        "forward_vector": [
            -0.09405156224966049,
            0.9950277805328369,
            0.032772865146398544
        ],
        "right_vector": [
            -0.995559811592102,
            -0.0941280946135521,
            0.0007969234138727188
        ],
        "location": [
            973.3896484375,
            3296.33203125,
            368.7512512207031
        ],
        "rotation": [
            -0.04568489268422127,
            1.878083348274231,
            95.39964294433594
        ],
        "velocity": [
            -0.7722800970077515,
            7.9700140953063965,
            0.15668624639511108
        ],
        "speed": 8.00734295678766,
        "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": 13.394620895385742,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                971.6993408203125,
                3309.6171875,
                369.0029296875
            ],
            "velocity": [
                -0.7531843185424805,
                5.0682549476623535,
                0.09433126449584961
            ],
            "speed_kmh": 18.44921613854747,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.02863471768796444,
                "transform": {
                    "location": {
                        "x": 976.0726318359375,
                        "y": 3277.031494140625,
                        "z": 368.3441467285156
                    },
                    "rotation": {
                        "roll": 0.13648395240306854,
                        "pitch": 1.2577519416809082,
                        "yaw": 99.62085723876953
                    }
                },
                "velocity": {
                    "x": 0.0004192876804154366,
                    "y": -0.001525777275674045,
                    "z": 0.028590964153409004
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.9841718673706055,
                "transform": {
                    "location": {
                        "x": 974.1177978515625,
                        "y": 3357.484619140625,
                        "z": 369.72076416015625
                    },
                    "rotation": {
                        "roll": -0.013183602131903172,
                        "pitch": -0.8862306475639343,
                        "yaw": -80.30689239501953
                    }
                },
                "velocity": {
                    "x": 1.010968565940857,
                    "y": -5.897658348083496,
                    "z": -0.0766836404800415
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.980330467224121,
                "transform": {
                    "location": {
                        "x": 970.9093017578125,
                        "y": 3356.967529296875,
                        "z": 369.72076416015625
                    },
                    "rotation": {
                        "roll": -0.014495771378278732,
                        "pitch": -0.886954665184021,
                        "yaw": -80.2941665649414
                    }
                },
                "velocity": {
                    "x": 1.0109140872955322,
                    "y": -5.893786430358887,
                    "z": -0.07543788850307465
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.124782085418701,
                "transform": {
                    "location": {
                        "x": 971.6993408203125,
                        "y": 3309.6171875,
                        "z": 369.0029296875
                    },
                    "rotation": {
                        "roll": 0.010348718613386154,
                        "pitch": 1.0310306549072266,
                        "yaw": 98.30056762695312
                    }
                },
                "velocity": {
                    "x": -0.7531843185424805,
                    "y": 5.0682549476623535,
                    "z": 0.09433126449584961
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.807938098907471,
                "transform": {
                    "location": {
                        "x": 969.4006958007812,
                        "y": 3324.93017578125,
                        "z": 369.2698669433594
                    },
                    "rotation": {
                        "roll": 0.009143914096057415,
                        "pitch": 0.8529198169708252,
                        "yaw": 99.62386322021484
                    }
                },
                "velocity": {
                    "x": -0.9811655282974243,
                    "y": 5.723713397979736,
                    "z": 0.09257236123085022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.003128805197775364,
                "transform": {
                    "location": {
                        "x": 978.7422485351562,
                        "y": 3265.67333984375,
                        "z": 368.0833435058594
                    },
                    "rotation": {
                        "roll": 0.016028298065066338,
                        "pitch": 0.7030996084213257,
                        "yaw": 92.88671875
                    }
                },
                "velocity": {
                    "x": 0.0002325202221982181,
                    "y": -0.0028063016943633556,
                    "z": 0.0013638283126056194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.897796630859375,
                "transform": {
                    "location": {
                        "x": 977.9060668945312,
                        "y": 3280.931396484375,
                        "z": 368.4254150390625
                    },
                    "rotation": {
                        "roll": 0.0006864327588118613,
                        "pitch": 1.5939406156539917,
                        "yaw": 94.69229125976562
                    }
                },
                "velocity": {
                    "x": -0.48856353759765625,
                    "y": 5.876102924346924,
                    "z": 0.12932415306568146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.135988712310791,
                "transform": {
                    "location": {
                        "x": 974.7333374023438,
                        "y": 3311.32275390625,
                        "z": 369.0299377441406
                    },
                    "rotation": {
                        "roll": 0.005572679918259382,
                        "pitch": 1.2504231929779053,
                        "yaw": 98.41276550292969
                    }
                },
                "velocity": {
                    "x": -1.0491125583648682,
                    "y": 7.057360649108887,
                    "z": 0.12393045425415039
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.693419456481934,
                "transform": {
                    "location": {
                        "x": 972.404296875,
                        "y": 3326.6513671875,
                        "z": 369.2860107421875
                    },
                    "rotation": {
                        "roll": 0.0192403681576252,
                        "pitch": 1.2793694734573364,
                        "yaw": 99.680419921875
                    }
                },
                "velocity": {
                    "x": -1.2795246839523315,
                    "y": 7.585268974304199,
                    "z": 0.12334787100553513
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10086727142333984,
        "expert_target_speed": 8.537475394033807,
        "target_point": [
            46.32811146616745,
            2.3813947442198042
        ],
        "target_point_next": [
            97.21928028937803,
            5.710648410541511
        ]
    },
    "45": {
        "acceleration": [
            -0.5605161190032959,
            3.813018798828125,
            0.07964909076690674
        ],
        "angular_velocity": [
            -1.4037506580352783,
            -0.09570684283971786,
            1.1918593645095825
        ],
        "forward_vector": [
            -0.09892350435256958,
            0.994628369808197,
            0.030471256002783775
        ],
        "right_vector": [
            -0.9950864911079407,
            -0.09900332242250443,
            0.0011180071160197258
        ],
        "location": [
            973.1738891601562,
            3298.515869140625,
            368.7945556640625
        ],
        "rotation": [
            -0.06408686190843582,
            1.7461446523666382,
            95.6798324584961
        ],
        "velocity": [
            -0.9180753827095032,
            9.061135292053223,
            0.17782457172870636
        ],
        "speed": 9.107526293633724,
        "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": 12.52938175201416,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                971.504638671875,
                3310.931396484375,
                369.0262756347656
            ],
            "velocity": [
                -0.8264945149421692,
                5.550970554351807,
                0.09708157926797867
            ],
            "speed_kmh": 20.206807411503757,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0017407354898750782,
                "transform": {
                    "location": {
                        "x": 976.0726318359375,
                        "y": 3277.031494140625,
                        "z": 368.34716796875
                    },
                    "rotation": {
                        "roll": 0.13534142076969147,
                        "pitch": 1.285783052444458,
                        "yaw": 99.62049865722656
                    }
                },
                "velocity": {
                    "x": 0.0002263806527480483,
                    "y": -0.00014191403170116246,
                    "z": 0.001720108208246529
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.736562252044678,
                "transform": {
                    "location": {
                        "x": 974.3594360351562,
                        "y": 3356.068115234375,
                        "z": 369.7024841308594
                    },
                    "rotation": {
                        "roll": 0.0032291074749082327,
                        "pitch": -0.8425857424736023,
                        "yaw": -80.33072662353516
                    }
                },
                "velocity": {
                    "x": 0.9524095058441162,
                    "y": -5.656492233276367,
                    "z": -0.07182076573371887
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.740236759185791,
                "transform": {
                    "location": {
                        "x": 971.1510009765625,
                        "y": 3355.550537109375,
                        "z": 369.7024841308594
                    },
                    "rotation": {
                        "roll": 0.0023644610773772,
                        "pitch": -0.8421007990837097,
                        "yaw": -80.3218765258789
                    }
                },
                "velocity": {
                    "x": 0.953199565410614,
                    "y": -5.66007137298584,
                    "z": -0.07295774668455124
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.613002300262451,
                "transform": {
                    "location": {
                        "x": 971.504638671875,
                        "y": 3310.931396484375,
                        "z": 369.0262756347656
                    },
                    "rotation": {
                        "roll": 0.007403592113405466,
                        "pitch": 1.0147680044174194,
                        "yaw": 98.39655303955078
                    }
                },
                "velocity": {
                    "x": -0.8264945149421692,
                    "y": 5.550970554351807,
                    "z": 0.09708157926797867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.039170742034912,
                "transform": {
                    "location": {
                        "x": 969.1441040039062,
                        "y": 3326.4423828125,
                        "z": 369.29486083984375
                    },
                    "rotation": {
                        "roll": 0.00044616564991883934,
                        "pitch": 0.7885316610336304,
                        "yaw": 99.60334777832031
                    }
                },
                "velocity": {
                    "x": -1.1530382633209229,
                    "y": 6.94317626953125,
                    "z": 0.11282800137996674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6665012836456299,
                "transform": {
                    "location": {
                        "x": 978.729248046875,
                        "y": 3265.927490234375,
                        "z": 368.0901184082031
                    },
                    "rotation": {
                        "roll": 0.01637226529419422,
                        "pitch": 1.3218942880630493,
                        "yaw": 92.90345001220703
                    }
                },
                "velocity": {
                    "x": -0.0841657966375351,
                    "y": 1.6639325618743896,
                    "z": 0.038357533514499664
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.472225666046143,
                "transform": {
                    "location": {
                        "x": 977.7631225585938,
                        "y": 3282.632080078125,
                        "z": 368.4617919921875
                    },
                    "rotation": {
                        "roll": -0.009887751191854477,
                        "pitch": 1.84187650680542,
                        "yaw": 94.82133483886719
                    }
                },
                "velocity": {
                    "x": -0.6362702250480652,
                    "y": 7.443351745605469,
                    "z": 0.16073031723499298
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.164661407470703,
                "transform": {
                    "location": {
                        "x": 974.4462890625,
                        "y": 3313.22998046875,
                        "z": 369.0631103515625
                    },
                    "rotation": {
                        "roll": 0.002733237110078335,
                        "pitch": 1.174922227859497,
                        "yaw": 98.55404663085938
                    }
                },
                "velocity": {
                    "x": -1.2195897102355957,
                    "y": 8.07186222076416,
                    "z": 0.1390707790851593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.380379676818848,
                "transform": {
                    "location": {
                        "x": 972.0617065429688,
                        "y": 3328.6982421875,
                        "z": 369.31878662109375
                    },
                    "rotation": {
                        "roll": 0.019766295328736305,
                        "pitch": 1.1053293943405151,
                        "yaw": 99.47671508789062
                    }
                },
                "velocity": {
                    "x": -1.3757901191711426,
                    "y": 8.265624046325684,
                    "z": 0.13197165727615356
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09631925821304321,
        "expert_target_speed": 9.323502761973652,
        "target_point": [
            44.14473260964554,
            2.156257427833525
        ],
        "target_point_next": [
            95.05157285462047,
            5.236616244568792
        ]
    },
    "50": {
        "acceleration": [
            0.08524894714355469,
            -0.7147789001464844,
            -0.008411407470703125
        ],
        "angular_velocity": [
            -1.9484995603561401,
            -0.44906431436538696,
            -1.287218689918518
        ],
        "forward_vector": [
            -0.10253847390413284,
            0.9943307042121887,
            0.028148984536528587
        ],
        "right_vector": [
            -0.9947215914726257,
            -0.10260633379220963,
            0.0009732655598782003
        ],
        "location": [
            972.9210205078125,
            3300.9775390625,
            368.84234619140625
        ],
        "rotation": [
            -0.0557861253619194,
            1.613031029701233,
            95.88771057128906
        ],
        "velocity": [
            -1.0388983488082886,
            10.041923522949219,
            0.19326062500476837
        ],
        "speed": 10.095520680971212,
        "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": 11.555466651916504,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                971.2824096679688,
                3312.414306640625,
                369.0523681640625
            ],
            "velocity": [
                -0.9459252953529358,
                6.25113582611084,
                0.1093241274356842
            ],
            "speed_kmh": 22.763681492071107,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013828028459101915,
                "transform": {
                    "location": {
                        "x": 976.0726318359375,
                        "y": 3277.03173828125,
                        "z": 368.34759521484375
                    },
                    "rotation": {
                        "roll": 0.13500912487506866,
                        "pitch": 1.2923741340637207,
                        "yaw": 99.62023162841797
                    }
                },
                "velocity": {
                    "x": 5.530610724235885e-05,
                    "y": -0.00010894924344029278,
                    "z": 0.001377394306473434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.952784538269043,
                "transform": {
                    "location": {
                        "x": 974.6097412109375,
                        "y": 3354.573974609375,
                        "z": 369.68280029296875
                    },
                    "rotation": {
                        "roll": 0.0033984689507633448,
                        "pitch": -0.5948752760887146,
                        "yaw": -80.4585189819336
                    }
                },
                "velocity": {
                    "x": 1.1449915170669556,
                    "y": -6.857230186462402,
                    "z": -0.09275573492050171
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.956592082977295,
                "transform": {
                    "location": {
                        "x": 971.4015502929688,
                        "y": 3354.055908203125,
                        "z": 369.6827697753906
                    },
                    "rotation": {
                        "roll": 0.0021213414147496223,
                        "pitch": -0.5945132970809937,
                        "yaw": -80.45542907714844
                    }
                },
                "velocity": {
                    "x": 1.1456233263015747,
                    "y": -6.860991477966309,
                    "z": -0.09229979664087296
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.323245048522949,
                "transform": {
                    "location": {
                        "x": 971.2824096679688,
                        "y": 3312.414306640625,
                        "z": 369.0523681640625
                    },
                    "rotation": {
                        "roll": 0.00731320446357131,
                        "pitch": 0.9998645186424255,
                        "yaw": 98.52564239501953
                    }
                },
                "velocity": {
                    "x": -0.9459252953529358,
                    "y": 6.25113582611084,
                    "z": 0.1093241274356842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.106908798217773,
                "transform": {
                    "location": {
                        "x": 968.8299560546875,
                        "y": 3328.328125,
                        "z": 369.3251037597656
                    },
                    "rotation": {
                        "roll": 0.0040599810890853405,
                        "pitch": 0.7712512612342834,
                        "yaw": 99.4867172241211
                    }
                },
                "velocity": {
                    "x": -1.327049970626831,
                    "y": 7.9965643882751465,
                    "z": 0.1260124295949936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0657095909118652,
                "transform": {
                    "location": {
                        "x": 978.7031860351562,
                        "y": 3266.4384765625,
                        "z": 368.1017761230469
                    },
                    "rotation": {
                        "roll": 0.013016869314014912,
                        "pitch": 1.3768430948257446,
                        "yaw": 92.9079818725586
                    }
                },
                "velocity": {
                    "x": -0.10516276955604553,
                    "y": 2.062487840652466,
                    "z": 0.04732959717512131
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.38473892211914,
                "transform": {
                    "location": {
                        "x": 977.5941162109375,
                        "y": 3284.6044921875,
                        "z": 368.50482177734375
                    },
                    "rotation": {
                        "roll": -0.007659994997084141,
                        "pitch": 1.6954987049102783,
                        "yaw": 94.92835998535156
                    }
                },
                "velocity": {
                    "x": -0.7190093994140625,
                    "y": 8.351920127868652,
                    "z": 0.17973273992538452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.918070316314697,
                "transform": {
                    "location": {
                        "x": 974.1393432617188,
                        "y": 3315.25390625,
                        "z": 369.0974426269531
                    },
                    "rotation": {
                        "roll": 0.00020626996411010623,
                        "pitch": 0.9818601012229919,
                        "yaw": 98.64732360839844
                    }
                },
                "velocity": {
                    "x": -1.1889749765396118,
                    "y": 7.827142715454102,
                    "z": 0.13419963419437408
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.773762226104736,
                "transform": {
                    "location": {
                        "x": 971.7346801757812,
                        "y": 3330.672119140625,
                        "z": 369.3500671386719
                    },
                    "rotation": {
                        "roll": 0.01100324746221304,
                        "pitch": 0.84649258852005,
                        "yaw": 99.32992553710938
                    }
                },
                "velocity": {
                    "x": -1.2669358253479004,
                    "y": 7.668891906738281,
                    "z": 0.1197812408208847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32938531041145325,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1028764620423317,
        "expert_target_speed": 9.958833569211588,
        "target_point": [
            41.67764219289392,
            1.9970566142997095
        ],
        "target_point_next": [
            92.59532366312766,
            4.892692617504176
        ]
    },
    "55": {
        "acceleration": [
            0.04187345504760742,
            -0.2504539489746094,
            -0.005402266979217529
        ],
        "angular_velocity": [
            -0.7875186800956726,
            -0.17446297407150269,
            2.0641872882843018
        ],
        "forward_vector": [
            -0.10284344851970673,
            0.9944844245910645,
            0.02059171162545681
        ],
        "right_vector": [
            -0.9946937561035156,
            -0.10287826508283615,
            0.0006358279497362673
        ],
        "location": [
            972.667724609375,
            3303.431884765625,
            368.8903503417969
        ],
        "rotation": [
            -0.0364379845559597,
            1.1799014806747437,
            95.90419006347656
        ],
        "velocity": [
            -1.0035061836242676,
            9.727765083312988,
            0.18185283243656158
        ],
        "speed": 9.779388435720072,
        "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": 10.820714950561523,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                971.0235595703125,
                3314.125244140625,
                369.0818176269531
            ],
            "velocity": [
                -1.110533595085144,
                7.312798500061035,
                0.12464965879917145
            ],
            "speed_kmh": 26.631690562231935,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012070430675521493,
                "transform": {
                    "location": {
                        "x": 976.0726318359375,
                        "y": 3277.03173828125,
                        "z": 368.3476867675781
                    },
                    "rotation": {
                        "roll": 0.13496774435043335,
                        "pitch": 1.2938289642333984,
                        "yaw": 99.62023162841797
                    }
                },
                "velocity": {
                    "x": 3.439509237068705e-05,
                    "y": -0.00010982945241266862,
                    "z": 0.0012015437241643667
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.496460914611816,
                "transform": {
                    "location": {
                        "x": 974.9384765625,
                        "y": 3352.60107421875,
                        "z": 369.65618896484375
                    },
                    "rotation": {
                        "roll": 0.0005514490185305476,
                        "pitch": -0.46273162961006165,
                        "yaw": -80.53141784667969
                    }
                },
                "velocity": {
                    "x": 1.3950443267822266,
                    "y": -8.380411148071289,
                    "z": -0.11135156452655792
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.522167205810547,
                "transform": {
                    "location": {
                        "x": 971.7303466796875,
                        "y": 3352.08154296875,
                        "z": 369.65618896484375
                    },
                    "rotation": {
                        "roll": 0.0001695062092039734,
                        "pitch": -0.4603888690471649,
                        "yaw": -80.5356674194336
                    }
                },
                "velocity": {
                    "x": 1.39778733253479,
                    "y": -8.406001091003418,
                    "z": -0.11253999173641205
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.39769172668457,
                "transform": {
                    "location": {
                        "x": 971.0235595703125,
                        "y": 3314.125244140625,
                        "z": 369.0818176269531
                    },
                    "rotation": {
                        "roll": 0.002324536209926009,
                        "pitch": 0.9958483576774597,
                        "yaw": 98.60516357421875
                    }
                },
                "velocity": {
                    "x": -1.110533595085144,
                    "y": 7.312798500061035,
                    "z": 0.12464965879917145
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.150113105773926,
                "transform": {
                    "location": {
                        "x": 968.492919921875,
                        "y": 3330.356689453125,
                        "z": 369.3563537597656
                    },
                    "rotation": {
                        "roll": 0.00516083836555481,
                        "pitch": 0.8570384383201599,
                        "yaw": 99.43737030029297
                    }
                },
                "velocity": {
                    "x": -1.335996389389038,
                    "y": 8.038886070251465,
                    "z": 0.125576913356781
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5738677382469177,
                "transform": {
                    "location": {
                        "x": 978.69677734375,
                        "y": 3266.5625,
                        "z": 368.1044921875
                    },
                    "rotation": {
                        "roll": 0.011800461448729038,
                        "pitch": 1.2004603147506714,
                        "yaw": 92.86927032470703
                    }
                },
                "velocity": {
                    "x": -0.027689410373568535,
                    "y": 0.5730615258216858,
                    "z": 0.0125676728785038
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.848611831665039,
                "transform": {
                    "location": {
                        "x": 977.3948974609375,
                        "y": 3286.912109375,
                        "z": 368.5533752441406
                    },
                    "rotation": {
                        "roll": -0.008148138411343098,
                        "pitch": 1.817322015762329,
                        "yaw": 94.96048736572266
                    }
                },
                "velocity": {
                    "x": -0.8493613004684448,
                    "y": 9.809743881225586,
                    "z": 0.20654557645320892
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.26120662689209,
                "transform": {
                    "location": {
                        "x": 973.8558959960938,
                        "y": 3317.109619140625,
                        "z": 369.12847900390625
                    },
                    "rotation": {
                        "roll": -0.006164588965475559,
                        "pitch": 0.8737314343452454,
                        "yaw": 98.6907958984375
                    }
                },
                "velocity": {
                    "x": -1.1074349880218506,
                    "y": 7.175283432006836,
                    "z": 0.11838332563638687
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.127031326293945,
                "transform": {
                    "location": {
                        "x": 971.4141845703125,
                        "y": 3332.622314453125,
                        "z": 369.3805847167969
                    },
                    "rotation": {
                        "roll": 0.010021760128438473,
                        "pitch": 0.9368833303451538,
                        "yaw": 99.32789611816406
                    }
                },
                "velocity": {
                    "x": -1.3131358623504639,
                    "y": 8.01927661895752,
                    "z": 0.12457896769046783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32229819893836975,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11303484439849854,
        "expert_target_speed": 9.763137373453475,
        "target_point": [
            39.21083226047788,
            1.985606015861638
        ],
        "target_point_next": [
            90.12934284246244,
            4.866625675559195
        ]
    },
    "60": {
        "acceleration": [
            0.39798736572265625,
            -5.037631988525391,
            -0.10535895824432373
        ],
        "angular_velocity": [
            -1.026925802230835,
            0.03669567406177521,
            -0.059778984636068344
        ],
        "forward_vector": [
            -0.10299241542816162,
            0.9946131110191345,
            0.011716454289853573
        ],
        "right_vector": [
            -0.9946802854537964,
            -0.1030079647898674,
            0.000729655846953392
        ],
        "location": [
            972.4412841796875,
            3305.62109375,
            368.9326477050781
        ],
        "rotation": [
            -0.0418090745806694,
            0.671318769454956,
            95.91191864013672
        ],
        "velocity": [
            -0.8433672189712524,
            8.068258285522461,
            0.1474020928144455
        ],
        "speed": 8.112216714803491,
        "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": 10.558908462524414,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                970.7329711914062,
                3316.039306640625,
                369.11444091796875
            ],
            "velocity": [
                -1.1917033195495605,
                7.838273525238037,
                0.13076849281787872
            ],
            "speed_kmh": 28.54593186740537,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001451613730750978,
                "transform": {
                    "location": {
                        "x": 976.0726318359375,
                        "y": 3277.03173828125,
                        "z": 368.3477783203125
                    },
                    "rotation": {
                        "roll": 0.1340791881084442,
                        "pitch": 1.2943822145462036,
                        "yaw": 99.6202621459961
                    }
                },
                "velocity": {
                    "x": -7.229346374515444e-05,
                    "y": -8.979692938737571e-05,
                    "z": 0.0014470289461314678
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.921539783477783,
                "transform": {
                    "location": {
                        "x": 975.2731323242188,
                        "y": 3350.579345703125,
                        "z": 369.62908935546875
                    },
                    "rotation": {
                        "roll": 0.007823259569704533,
                        "pitch": -0.7768861651420593,
                        "yaw": -80.61795806884766
                    }
                },
                "velocity": {
                    "x": 1.2849682569503784,
                    "y": -7.815921306610107,
                    "z": -0.10498448461294174
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.915527820587158,
                "transform": {
                    "location": {
                        "x": 972.0651245117188,
                        "y": 3350.05859375,
                        "z": 369.6290588378906
                    },
                    "rotation": {
                        "roll": 0.006471135187894106,
                        "pitch": -0.7793928384780884,
                        "yaw": -80.6186294555664
                    }
                },
                "velocity": {
                    "x": 1.2840300798416138,
                    "y": -7.809974193572998,
                    "z": -0.10560068488121033
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9294257164001465,
                "transform": {
                    "location": {
                        "x": 970.7329711914062,
                        "y": 3316.039306640625,
                        "z": 369.11444091796875
                    },
                    "rotation": {
                        "roll": 0.0015885134926065803,
                        "pitch": 0.9702897667884827,
                        "yaw": 98.64183807373047
                    }
                },
                "velocity": {
                    "x": -1.1917033195495605,
                    "y": 7.838273525238037,
                    "z": 0.13076849281787872
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.871467590332031,
                "transform": {
                    "location": {
                        "x": 968.1694946289062,
                        "y": 3332.32080078125,
                        "z": 369.3867492675781
                    },
                    "rotation": {
                        "roll": 0.0006853711092844605,
                        "pitch": 0.8993992805480957,
                        "yaw": 99.34575653076172
                    }
                },
                "velocity": {
                    "x": -1.2683944702148438,
                    "y": 7.767649173736572,
                    "z": 0.121678426861763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4834911823272705,
                "transform": {
                    "location": {
                        "x": 978.68310546875,
                        "y": 3266.8271484375,
                        "z": 368.1108093261719
                    },
                    "rotation": {
                        "roll": 0.009553913027048111,
                        "pitch": 1.4005780220031738,
                        "yaw": 92.85382843017578
                    }
                },
                "velocity": {
                    "x": -0.07757014781236649,
                    "y": 1.4810723066329956,
                    "z": 0.03396791219711304
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.808858871459961,
                "transform": {
                    "location": {
                        "x": 977.1612548828125,
                        "y": 3289.486083984375,
                        "z": 368.6075439453125
                    },
                    "rotation": {
                        "roll": -0.051483187824487686,
                        "pitch": 1.7084555625915527,
                        "yaw": 95.2381362915039
                    }
                },
                "velocity": {
                    "x": -0.9978024363517761,
                    "y": 10.76041316986084,
                    "z": 0.22207345068454742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.818008899688721,
                "transform": {
                    "location": {
                        "x": 973.5687866210938,
                        "y": 3318.954345703125,
                        "z": 369.15924072265625
                    },
                    "rotation": {
                        "roll": -0.005462712608277798,
                        "pitch": 0.9823929071426392,
                        "yaw": 98.86975860595703
                    }
                },
                "velocity": {
                    "x": -1.2074795961380005,
                    "y": 7.723148822784424,
                    "z": 0.12739209830760956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.076157569885254,
                "transform": {
                    "location": {
                        "x": 971.0849609375,
                        "y": 3334.636474609375,
                        "z": 369.4120178222656
                    },
                    "rotation": {
                        "roll": 0.0060298508033156395,
                        "pitch": 0.8987572193145752,
                        "yaw": 99.26708221435547
                    }
                },
                "velocity": {
                    "x": -1.3004528284072876,
                    "y": 7.969766139984131,
                    "z": 0.1263934224843979
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12471722811460495,
        "expert_target_speed": 8.625058671013958,
        "target_point": [
            37.010212541796584,
            1.9805383209283045
        ],
        "target_point_next": [
            87.92911349485708,
            4.854650340257841
        ]
    },
    "65": {
        "acceleration": [
            -0.08056402206420898,
            -0.14238357543945312,
            -0.0028452277183532715
        ],
        "angular_velocity": [
            0.9166232943534851,
            0.10351338237524033,
            0.9749504327774048
        ],
        "forward_vector": [
            -0.10593940317630768,
            0.9943135976791382,
            0.010837937705218792
        ],
        "right_vector": [
            -0.9943704605102539,
            -0.10595542192459106,
            0.0009134108549915254
        ],
        "location": [
            972.24169921875,
            3307.501220703125,
            368.9669189453125
        ],
        "rotation": [
            -0.05233766511082649,
            0.6209802627563477,
            96.08164978027344
        ],
        "velocity": [
            -0.7803125381469727,
            7.216492652893066,
            0.1303950995206833
        ],
        "speed": 7.258557285469956,
        "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": 10.631612777709961,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                970.4345092773438,
                3317.9765625,
                369.1470642089844
            ],
            "velocity": [
                -1.195195198059082,
                7.65936803817749,
                0.127308651804924
            ],
            "speed_kmh": 27.91117350935131,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00142749585211277,
                "transform": {
                    "location": {
                        "x": 976.0726318359375,
                        "y": 3277.03173828125,
                        "z": 368.3477783203125
                    },
                    "rotation": {
                        "roll": 0.13433890044689178,
                        "pitch": 1.2942866086959839,
                        "yaw": 99.62028503417969
                    }
                },
                "velocity": {
                    "x": -6.136722367955372e-05,
                    "y": -0.00014473825285676867,
                    "z": 0.0014188126660883427
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.98853874206543,
                "transform": {
                    "location": {
                        "x": 975.5911254882812,
                        "y": 3348.6376953125,
                        "z": 369.6026916503906
                    },
                    "rotation": {
                        "roll": 0.006392708048224449,
                        "pitch": -0.7752059102058411,
                        "yaw": -80.69962310791016
                    }
                },
                "velocity": {
                    "x": 1.288434386253357,
                    "y": -7.883179187774658,
                    "z": -0.11032535135746002
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.988783836364746,
                "transform": {
                    "location": {
                        "x": 972.3828735351562,
                        "y": 3348.11865234375,
                        "z": 369.60260009765625
                    },
                    "rotation": {
                        "roll": 0.004025724250823259,
                        "pitch": -0.7751786112785339,
                        "yaw": -80.69969177246094
                    }
                },
                "velocity": {
                    "x": 1.2880979776382446,
                    "y": -7.883500099182129,
                    "z": -0.10907622426748276
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.753104209899902,
                "transform": {
                    "location": {
                        "x": 970.4345092773438,
                        "y": 3317.9765625,
                        "z": 369.1470642089844
                    },
                    "rotation": {
                        "roll": -0.0012512127868831158,
                        "pitch": 0.9380990862846375,
                        "yaw": 98.78815460205078
                    }
                },
                "velocity": {
                    "x": -1.195195198059082,
                    "y": 7.65936803817749,
                    "z": 0.127308651804924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.096236228942871,
                "transform": {
                    "location": {
                        "x": 967.8475341796875,
                        "y": 3334.29150390625,
                        "z": 369.41790771484375
                    },
                    "rotation": {
                        "roll": 0.0009572173585183918,
                        "pitch": 0.8704870939254761,
                        "yaw": 99.2821273803711
                    }
                },
                "velocity": {
                    "x": -1.3019884824752808,
                    "y": 7.989895343780518,
                    "z": 0.12427827715873718
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1752562522888184,
                "transform": {
                    "location": {
                        "x": 978.6580810546875,
                        "y": 3267.30126953125,
                        "z": 368.1216735839844
                    },
                    "rotation": {
                        "roll": 0.010955770500004292,
                        "pitch": 1.4278782606124878,
                        "yaw": 92.90389251708984
                    }
                },
                "velocity": {
                    "x": -0.11450939625501633,
                    "y": 2.171680450439453,
                    "z": 0.04930561035871506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.768040657043457,
                "transform": {
                    "location": {
                        "x": 976.8968505859375,
                        "y": 3292.2998046875,
                        "z": 368.66546630859375
                    },
                    "rotation": {
                        "roll": -0.07113657146692276,
                        "pitch": 1.6421823501586914,
                        "yaw": 95.43594360351562
                    }
                },
                "velocity": {
                    "x": -1.1465833187103271,
                    "y": 11.709634780883789,
                    "z": 0.23789216578006744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.867153644561768,
                "transform": {
                    "location": {
                        "x": 973.2596435546875,
                        "y": 3320.927490234375,
                        "z": 369.1914367675781
                    },
                    "rotation": {
                        "roll": -0.005859389901161194,
                        "pitch": 0.9441369771957397,
                        "yaw": 98.89733123779297
                    }
                },
                "velocity": {
                    "x": -1.2188162803649902,
                    "y": 7.771131992340088,
                    "z": 0.12689681351184845
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.939950466156006,
                "transform": {
                    "location": {
                        "x": 970.7645874023438,
                        "y": 3336.60107421875,
                        "z": 369.44281005859375
                    },
                    "rotation": {
                        "roll": 0.005497705191373825,
                        "pitch": 0.8679735660552979,
                        "yaw": 99.2737045288086
                    }
                },
                "velocity": {
                    "x": -1.275015950202942,
                    "y": 7.835981845855713,
                    "z": 0.12057685852050781
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12685151398181915,
        "expert_target_speed": 7.974234065029121,
        "target_point": [
            35.12522702667052,
            1.8716140325492097
        ],
        "target_point_next": [
            86.05241932490485,
            4.594861870315931
        ]
    },
    "70": {
        "acceleration": [
            0.5039048194885254,
            -4.518537521362305,
            -0.0792694091796875
        ],
        "angular_velocity": [
            -0.32415783405303955,
            -0.3470446467399597,
            3.672999382019043
        ],
        "forward_vector": [
            -0.10660850256681442,
            0.994276762008667,
            0.006952110677957535
        ],
        "right_vector": [
            -0.9942998886108398,
            -0.10661645978689194,
            0.0007834828575141728
        ],
        "location": [
            972.0694580078125,
            3309.079833984375,
            368.9959716796875
        ],
        "rotation": [
            -0.0448913499712944,
            0.39832979440689087,
            96.1199951171875
        ],
        "velocity": [
            -0.5933663249015808,
            5.429681301116943,
            0.09682157635688782
        ],
        "speed": 5.4620071976541915,
        "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": 10.972563743591309,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                970.1372680664062,
                3319.87939453125,
                369.1784362792969
            ],
            "velocity": [
                -1.196582555770874,
                7.6098246574401855,
                0.12528415024280548
            ],
            "speed_kmh": 27.73564325439166,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.3985595703125,
                        "y": 3386.571533203125,
                        "z": 370.11065673828125
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.1898193359375,
                        "y": 3386.05517578125,
                        "z": 370.1106872558594
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "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": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8947589993476868,
                "transform": {
                    "location": {
                        "x": 976.0750732421875,
                        "y": 3277.0869140625,
                        "z": 368.3490905761719
                    },
                    "rotation": {
                        "roll": 0.23065979778766632,
                        "pitch": 1.4344079494476318,
                        "yaw": 99.125244140625
                    }
                },
                "velocity": {
                    "x": 0.03287120535969734,
                    "y": 0.8939481973648071,
                    "z": 0.019230537116527557
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.162432670593262,
                "transform": {
                    "location": {
                        "x": 975.9191284179688,
                        "y": 3346.62890625,
                        "z": 369.57452392578125
                    },
                    "rotation": {
                        "roll": 0.0016036489978432655,
                        "pitch": -0.7980324029922485,
                        "yaw": -80.72867584228516
                    }
                },
                "velocity": {
                    "x": 1.3136823177337646,
                    "y": -8.055255889892578,
                    "z": -0.11135942488908768
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.165631294250488,
                "transform": {
                    "location": {
                        "x": 972.7110595703125,
                        "y": 3346.108642578125,
                        "z": 369.5744934082031
                    },
                    "rotation": {
                        "roll": 0.0003767107264138758,
                        "pitch": -0.7973289489746094,
                        "yaw": -80.72969818115234
                    }
                },
                "velocity": {
                    "x": 1.3137601613998413,
                    "y": -8.058480262756348,
                    "z": -0.11161570250988007
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.704345226287842,
                "transform": {
                    "location": {
                        "x": 970.1372680664062,
                        "y": 3319.87939453125,
                        "z": 369.1784362792969
                    },
                    "rotation": {
                        "roll": -0.003051681676879525,
                        "pitch": 0.9296433329582214,
                        "yaw": 98.90756225585938
                    }
                },
                "velocity": {
                    "x": -1.196582555770874,
                    "y": 7.6098246574401855,
                    "z": 0.12528415024280548
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9995856285095215,
                "transform": {
                    "location": {
                        "x": 967.5237426757812,
                        "y": 3336.2802734375,
                        "z": 369.4488525390625
                    },
                    "rotation": {
                        "roll": -0.0014038493391126394,
                        "pitch": 0.8797556161880493,
                        "yaw": 99.24658203125
                    }
                },
                "velocity": {
                    "x": -1.2790148258209229,
                    "y": 7.895761489868164,
                    "z": 0.12018449604511261
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002357294550165534,
                "transform": {
                    "location": {
                        "x": 978.6467895507812,
                        "y": 3267.515625,
                        "z": 368.1260986328125
                    },
                    "rotation": {
                        "roll": 0.013188278302550316,
                        "pitch": 1.0775237083435059,
                        "yaw": 92.92250061035156
                    }
                },
                "velocity": {
                    "x": 0.00019190501188859344,
                    "y": -0.0017428463324904442,
                    "z": 0.0015755943022668362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.659076690673828,
                "transform": {
                    "location": {
                        "x": 976.5908203125,
                        "y": 3295.3466796875,
                        "z": 368.7267761230469
                    },
                    "rotation": {
                        "roll": -0.08993528038263321,
                        "pitch": 1.5903820991516113,
                        "yaw": 95.8572769165039
                    }
                },
                "velocity": {
                    "x": -1.2945643663406372,
                    "y": 12.59022045135498,
                    "z": 0.2503480911254883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.526308536529541,
                "transform": {
                    "location": {
                        "x": 972.9627075195312,
                        "y": 3322.8076171875,
                        "z": 369.22198486328125
                    },
                    "rotation": {
                        "roll": -0.007720933295786381,
                        "pitch": 0.8871595859527588,
                        "yaw": 99.00584411621094
                    }
                },
                "velocity": {
                    "x": -1.1788831949234009,
                    "y": 7.4324259757995605,
                    "z": 0.12082836031913757
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.098983764648438,
                "transform": {
                    "location": {
                        "x": 970.44287109375,
                        "y": 3338.583251953125,
                        "z": 369.4727783203125
                    },
                    "rotation": {
                        "roll": 0.0057862550020217896,
                        "pitch": 0.8643330931663513,
                        "yaw": 99.20553588867188
                    }
                },
                "velocity": {
                    "x": -1.2951401472091675,
                    "y": 7.993859767913818,
                    "z": 0.11981269717216492
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.00551576167345047,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13911437988281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.706787109375,
                        "z": 370.1446533203125
                    },
                    "rotation": {
                        "roll": -0.007537864614278078,
                        "pitch": 0.7172517776489258,
                        "yaw": 99.1384506225586
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14020998775959015,
        "expert_target_speed": 5.787434817046434,
        "target_point": [
            33.53849113302772,
            1.8451690860973593
        ],
        "target_point_next": [
            84.46749261192382,
            4.534370181187807
        ]
    },
    "75": {
        "acceleration": [
            0.13519227504730225,
            -1.7940616607666016,
            -0.01170724630355835
        ],
        "angular_velocity": [
            0.8810929656028748,
            0.07257384061813354,
            0.4902249574661255
        ],
        "forward_vector": [
            -0.1082293912768364,
            0.9940955638885498,
            0.007774751167744398
        ],
        "right_vector": [
            -0.9941247701644897,
            -0.10823822021484375,
            0.0007222273270599544
        ],
        "location": [
            971.9371948242188,
            3310.282958984375,
            369.0167541503906
        ],
        "rotation": [
            -0.0413818322122097,
            0.4454649090766907,
            96.21344757080078
        ],
        "velocity": [
            -0.48439985513687134,
            4.341065406799316,
            0.0756162628531456
        ],
        "speed": 4.368007793693406,
        "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": 85.6889877319336,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                5.477573381540424e-07,
                -1.3622567166748922e-05,
                -0.0015501152956858277
            ],
            "speed_kmh": 0.005580630898352214,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.7294921875,
                        "y": 3384.513916015625,
                        "z": 370.0711975097656
                    },
                    "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": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.520751953125,
                        "y": 3383.997802734375,
                        "z": 370.0711975097656
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2464585304260254,
                "transform": {
                    "location": {
                        "x": 976.096435546875,
                        "y": 3277.4912109375,
                        "z": 368.358154296875
                    },
                    "rotation": {
                        "roll": 0.2350362092256546,
                        "pitch": 1.55098557472229,
                        "yaw": 96.071533203125
                    }
                },
                "velocity": {
                    "x": 0.13250567018985748,
                    "y": 2.242008686065674,
                    "z": 0.04915161058306694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.961098670959473,
                "transform": {
                    "location": {
                        "x": 976.2413330078125,
                        "y": 3344.645263671875,
                        "z": 369.5457763671875
                    },
                    "rotation": {
                        "roll": 0.0033438298851251602,
                        "pitch": -0.8551669716835022,
                        "yaw": -80.77851104736328
                    }
                },
                "velocity": {
                    "x": 1.273440957069397,
                    "y": -7.857751846313477,
                    "z": -0.11477937549352646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.957372188568115,
                "transform": {
                    "location": {
                        "x": 973.0330810546875,
                        "y": 3344.125244140625,
                        "z": 369.5457458496094
                    },
                    "rotation": {
                        "roll": 0.003531308379024267,
                        "pitch": -0.856410026550293,
                        "yaw": -80.77873229980469
                    }
                },
                "velocity": {
                    "x": 1.2731307744979858,
                    "y": -7.85402774810791,
                    "z": -0.11471722275018692
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016827185172587633,
                "transform": {
                    "location": {
                        "x": 978.6466674804688,
                        "y": 3267.5166015625,
                        "z": 368.1263732910156
                    },
                    "rotation": {
                        "roll": 0.013640266843140125,
                        "pitch": 1.2527796030044556,
                        "yaw": 92.92263793945312
                    }
                },
                "velocity": {
                    "x": 0.00014776379975955933,
                    "y": -0.0008713771239854395,
                    "z": 0.0014319251058623195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.750234603881836,
                "transform": {
                    "location": {
                        "x": 976.26708984375,
                        "y": 3298.403564453125,
                        "z": 368.78851318359375
                    },
                    "rotation": {
                        "roll": -0.12176508456468582,
                        "pitch": 1.0893604755401611,
                        "yaw": 96.22637939453125
                    }
                },
                "velocity": {
                    "x": -1.2908843755722046,
                    "y": 11.676908493041992,
                    "z": 0.22682179510593414
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.973653316497803,
                "transform": {
                    "location": {
                        "x": 972.6571655273438,
                        "y": 3324.7294921875,
                        "z": 369.2532653808594
                    },
                    "rotation": {
                        "roll": -0.005371109116822481,
                        "pitch": 0.9678172469139099,
                        "yaw": 99.02661895751953
                    }
                },
                "velocity": {
                    "x": -1.252959132194519,
                    "y": 7.8735671043396,
                    "z": 0.12719331681728363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.012133598327637,
                "transform": {
                    "location": {
                        "x": 970.1204223632812,
                        "y": 3340.57275390625,
                        "z": 369.50201416015625
                    },
                    "rotation": {
                        "roll": 0.0031066127121448517,
                        "pitch": 0.8188918232917786,
                        "yaw": 99.2158203125
                    }
                },
                "velocity": {
                    "x": -1.2810933589935303,
                    "y": 7.9082183837890625,
                    "z": 0.11476768553256989
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0014572960790246725,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2164306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.16576868295669556,
                        "yaw": 99.13902282714844
                    }
                },
                "velocity": {
                    "x": -2.235413012385834e-05,
                    "y": -3.297917646705173e-05,
                    "z": 0.0014567513717338443
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0015501752495765686,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": -0.0017089603934437037,
                        "pitch": 0.7135361433029175,
                        "yaw": 99.13834381103516
                    }
                },
                "velocity": {
                    "x": 5.477573381540424e-07,
                    "y": -1.3622567166748922e-05,
                    "z": -0.0015501152956858277
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14445056021213531,
        "expert_target_speed": 5.494482118382404,
        "target_point": [
            32.33108519054693,
            1.7891646443248819
        ],
        "target_point_next": [
            83.26440755623595,
            4.395247329129976
        ]
    },
    "80": {
        "acceleration": [
            -0.5224883556365967,
            3.5668468475341797,
            0.051470547914505005
        ],
        "angular_velocity": [
            1.9218014478683472,
            0.29229336977005005,
            1.129089593887329
        ],
        "forward_vector": [
            -0.1119544729590416,
            0.9935853481292725,
            0.015944281592965126
        ],
        "right_vector": [
            -0.9937092661857605,
            -0.1119854673743248,
            0.0010613998165354133
        ],
        "location": [
            971.8058471679688,
            3311.4287109375,
            369.03509521484375
        ],
        "rotation": [
            -0.06082147732377052,
            0.9135787487030029,
            96.42881774902344
        ],
        "velocity": [
            -0.5815618634223938,
            4.923070430755615,
            0.08590879291296005
        ],
        "speed": 4.9573013492390805,
        "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": 84.53752136230469,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                -2.361275164730614e-06,
                -1.3263523214845918e-05,
                -2.4748833311605267e-05
            ],
            "speed_kmh": 0.0001014409108157502,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.0606079101562,
                        "y": 3382.456787109375,
                        "z": 370.02740478515625
                    },
                    "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": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.8518676757812,
                        "y": 3381.9404296875,
                        "z": 370.02740478515625
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.821735143661499,
                "transform": {
                    "location": {
                        "x": 976.1534423828125,
                        "y": 3278.25,
                        "z": 368.37506103515625
                    },
                    "rotation": {
                        "roll": 0.16255700588226318,
                        "pitch": 1.6001834869384766,
                        "yaw": 91.6342544555664
                    }
                },
                "velocity": {
                    "x": 0.3304930329322815,
                    "y": 3.806485414505005,
                    "z": 0.08427837491035461
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.077434539794922,
                "transform": {
                    "location": {
                        "x": 976.561279296875,
                        "y": 3342.668701171875,
                        "z": 369.5169372558594
                    },
                    "rotation": {
                        "roll": 0.0020609793718904257,
                        "pitch": -0.8179287910461426,
                        "yaw": -80.80397033691406
                    }
                },
                "velocity": {
                    "x": 1.289810299873352,
                    "y": -7.972952842712402,
                    "z": -0.11553799360990524
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.07841968536377,
                "transform": {
                    "location": {
                        "x": 973.3530883789062,
                        "y": 3342.14892578125,
                        "z": 369.51690673828125
                    },
                    "rotation": {
                        "roll": 0.0017223431495949626,
                        "pitch": -0.8171637654304504,
                        "yaw": -80.80345153808594
                    }
                },
                "velocity": {
                    "x": 1.290018081665039,
                    "y": -7.973915100097656,
                    "z": -0.11575256288051605
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.11592401564121246,
                "transform": {
                    "location": {
                        "x": 978.6463623046875,
                        "y": 3267.5224609375,
                        "z": 368.1265869140625
                    },
                    "rotation": {
                        "roll": 0.0133314598351717,
                        "pitch": 1.3065741062164307,
                        "yaw": 92.94383239746094
                    }
                },
                "velocity": {
                    "x": -0.004838232882320881,
                    "y": 0.11577586829662323,
                    "z": 0.003304014215245843
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.06322956085205,
                "transform": {
                    "location": {
                        "x": 975.9541015625,
                        "y": 3301.19140625,
                        "z": 368.8427734375
                    },
                    "rotation": {
                        "roll": -0.08959953486919403,
                        "pitch": 0.847797155380249,
                        "yaw": 96.512451171875
                    }
                },
                "velocity": {
                    "x": -1.255394458770752,
                    "y": 10.989782333374023,
                    "z": 0.20908311009407043
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.646114826202393,
                "transform": {
                    "location": {
                        "x": 972.3490600585938,
                        "y": 3326.662841796875,
                        "z": 369.2844543457031
                    },
                    "rotation": {
                        "roll": -0.004058803431689739,
                        "pitch": 0.8969404101371765,
                        "yaw": 99.077880859375
                    }
                },
                "velocity": {
                    "x": -1.2057138681411743,
                    "y": 7.549450397491455,
                    "z": 0.12297368794679642
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020200729370117,
                "transform": {
                    "location": {
                        "x": 969.8012084960938,
                        "y": 3342.547119140625,
                        "z": 369.5306701660156
                    },
                    "rotation": {
                        "roll": 0.0020070048049092293,
                        "pitch": 0.8287614583969116,
                        "yaw": 99.17022705078125
                    }
                },
                "velocity": {
                    "x": -1.2785863876342773,
                    "y": 7.916794300079346,
                    "z": 0.11487031728029251
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0015053290408104658,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2166442871094
                    },
                    "rotation": {
                        "roll": -3.0529205105267465e-05,
                        "pitch": 0.16574135422706604,
                        "yaw": 99.13902282714844
                    }
                },
                "velocity": {
                    "x": -9.587173735781107e-06,
                    "y": -2.6704072297434323e-05,
                    "z": 0.0015050615184009075
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.817803033394739e-05,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": 5.880821117898449e-05,
                        "pitch": 0.7131058573722839,
                        "yaw": 99.13833618164062
                    }
                },
                "velocity": {
                    "x": -2.361275164730614e-06,
                    "y": -1.3263523214845918e-05,
                    "z": -2.4748833311605267e-05
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14695142209529877,
        "expert_target_speed": 6.0443019287210555,
        "target_point": [
            31.184326890897264,
            1.6654124427595454
        ],
        "target_point_next": [
            82.1270837018986,
            4.080059966191268
        ]
    },
    "85": {
        "acceleration": [
            -0.21363377571105957,
            0.7001018524169922,
            -0.014799535274505615
        ],
        "angular_velocity": [
            -0.18180613219738007,
            0.036281123757362366,
            1.2337881326675415
        ],
        "forward_vector": [
            -0.11700762063264847,
            0.9929560422897339,
            0.018641822040081024
        ],
        "right_vector": [
            -0.9931256771087646,
            -0.11704779416322708,
            0.0010751978261396289
        ],
        "location": [
            971.6517944335938,
            3312.71484375,
            369.0573425292969
        ],
        "rotation": [
            -0.06161502003669739,
            1.068159580230713,
            96.72061157226562
        ],
        "velocity": [
            -0.6346628665924072,
            5.161586284637451,
            0.08995231240987778
        ],
        "speed": 5.200458626697143,
        "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": 83.2438735961914,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                -3.0455206797341816e-05,
                4.123747203266248e-06,
                -2.825085903168656e-05
            ],
            "speed_kmh": 0.00015028160861293747,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019461631774902,
                "transform": {
                    "location": {
                        "x": 970.3935546875,
                        "y": 3380.434326171875,
                        "z": 369.9913330078125
                    },
                    "rotation": {
                        "roll": -0.022644054144620895,
                        "pitch": -0.6589015126228333,
                        "yaw": -80.571533203125
                    }
                },
                "velocity": {
                    "x": 1.3272274732589722,
                    "y": -7.908300399780273,
                    "z": -0.0949375256896019
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997839450836182,
                "transform": {
                    "location": {
                        "x": 967.1840209960938,
                        "y": 3379.9296875,
                        "z": 369.99249267578125
                    },
                    "rotation": {
                        "roll": 0.011903484351933002,
                        "pitch": -0.5998818278312683,
                        "yaw": -80.5938491821289
                    }
                },
                "velocity": {
                    "x": 1.3437588214874268,
                    "y": -7.8837409019470215,
                    "z": -0.07987214624881744
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.249914169311523,
                "transform": {
                    "location": {
                        "x": 976.2724609375,
                        "y": 3279.38720703125,
                        "z": 368.40032958984375
                    },
                    "rotation": {
                        "roll": 0.05103082209825516,
                        "pitch": 1.5750961303710938,
                        "yaw": 87.09394073486328
                    }
                },
                "velocity": {
                    "x": 0.6172986030578613,
                    "y": 5.212161064147949,
                    "z": 0.11797647178173065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.059760093688965,
                "transform": {
                    "location": {
                        "x": 976.8839721679688,
                        "y": 3340.673095703125,
                        "z": 369.4879150390625
                    },
                    "rotation": {
                        "roll": 0.0021301209926605225,
                        "pitch": -0.8281809091567993,
                        "yaw": -80.8183364868164
                    }
                },
                "velocity": {
                    "x": 1.2845432758331299,
                    "y": -7.955892086029053,
                    "z": -0.1160297840833664
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060535430908203,
                "transform": {
                    "location": {
                        "x": 973.6758422851562,
                        "y": 3340.153076171875,
                        "z": 369.48785400390625
                    },
                    "rotation": {
                        "roll": 0.0019033936550840735,
                        "pitch": -0.8283653259277344,
                        "yaw": -80.81770324707031
                    }
                },
                "velocity": {
                    "x": 1.2851917743682861,
                    "y": -7.956578731536865,
                    "z": -0.11564221233129501
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8385805487632751,
                "transform": {
                    "location": {
                        "x": 978.640625,
                        "y": 3267.62744140625,
                        "z": 368.12908935546875
                    },
                    "rotation": {
                        "roll": 0.012741589918732643,
                        "pitch": 1.4031051397323608,
                        "yaw": 92.95817565917969
                    }
                },
                "velocity": {
                    "x": -0.04747302830219269,
                    "y": 0.8370110988616943,
                    "z": 0.019391726702451706
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.150167465209961,
                "transform": {
                    "location": {
                        "x": 975.6234741210938,
                        "y": 3303.980224609375,
                        "z": 368.8943786621094
                    },
                    "rotation": {
                        "roll": -0.11633308231830597,
                        "pitch": 1.0287493467330933,
                        "yaw": 96.92547607421875
                    }
                },
                "velocity": {
                    "x": -1.3573201894760132,
                    "y": 11.065311431884766,
                    "z": 0.2068939507007599
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.741316318511963,
                "transform": {
                    "location": {
                        "x": 972.0477905273438,
                        "y": 3328.546142578125,
                        "z": 369.3147888183594
                    },
                    "rotation": {
                        "roll": -0.0024108828511089087,
                        "pitch": 0.9133874773979187,
                        "yaw": 99.08081817626953
                    }
                },
                "velocity": {
                    "x": -1.2246453762054443,
                    "y": 7.64287805557251,
                    "z": 0.12097419798374176
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.052881240844727,
                "transform": {
                    "location": {
                        "x": 969.4806518554688,
                        "y": 3344.533447265625,
                        "z": 369.5594787597656
                    },
                    "rotation": {
                        "roll": 0.0011019653175026178,
                        "pitch": 0.8353798985481262,
                        "yaw": 99.17935943603516
                    }
                },
                "velocity": {
                    "x": -1.283813714981079,
                    "y": 7.9490532875061035,
                    "z": 0.11518649756908417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0005385890835896134,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2167053222656
                    },
                    "rotation": {
                        "roll": -3.0529205105267465e-05,
                        "pitch": 0.16621947288513184,
                        "yaw": 99.13902282714844
                    }
                },
                "velocity": {
                    "x": 1.2691049050772563e-05,
                    "y": -1.2503787729656324e-05,
                    "z": 0.0005382943199947476
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 4.174489004071802e-05,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": -0.0004577648069243878,
                        "pitch": 0.7131127119064331,
                        "yaw": 99.13835906982422
                    }
                },
                "velocity": {
                    "x": -3.0455206797341816e-05,
                    "y": 4.123747203266248e-06,
                    "z": -2.825085903168656e-05
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14704078435897827,
        "expert_target_speed": 6.267360565993772,
        "target_point": [
            29.897080007387647,
            1.5041006379502662
        ],
        "target_point_next": [
            80.85147305620964,
            3.659285825677422
        ]
    },
    "90": {
        "acceleration": [
            -0.9478163719177246,
            5.487308502197266,
            0.08300438523292542
        ],
        "angular_velocity": [
            1.4369747638702393,
            0.3176332414150238,
            1.8376091718673706
        ],
        "forward_vector": [
            -0.12306774407625198,
            0.9921277165412903,
            0.023169349879026413
        ],
        "right_vector": [
            -0.9923890829086304,
            -0.12313336879014969,
            0.0014217449352145195
        ],
        "location": [
            971.4766235351562,
            3314.110595703125,
            369.08026123046875
        ],
        "rotation": [
            -0.08148188143968582,
            1.327624797821045,
            97.07109069824219
        ],
        "velocity": [
            -0.8214404582977295,
            6.3107123374938965,
            0.10758063942193985
        ],
        "speed": 6.363949609568421,
        "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": 81.83866119384766,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                -2.311989646841539e-06,
                -1.602113297849428e-05,
                -0.00026657155831344426
            ],
            "speed_kmh": 0.000961425261467634,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.225810050964355,
                "transform": {
                    "location": {
                        "x": 970.7333984375,
                        "y": 3378.430908203125,
                        "z": 369.96905517578125
                    },
                    "rotation": {
                        "roll": -0.01895143650472164,
                        "pitch": -0.6335068345069885,
                        "yaw": -80.33706665039062
                    }
                },
                "velocity": {
                    "x": 1.3843046426773071,
                    "y": -8.108002662658691,
                    "z": -0.08917805552482605
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.072482109069824,
                "transform": {
                    "location": {
                        "x": 967.5209350585938,
                        "y": 3377.948974609375,
                        "z": 369.97357177734375
                    },
                    "rotation": {
                        "roll": -0.0014037665678188205,
                        "pitch": -0.6222233772277832,
                        "yaw": -80.3642807006836
                    }
                },
                "velocity": {
                    "x": 1.363928198814392,
                    "y": -7.9560065269470215,
                    "z": -0.08137113600969315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.599242687225342,
                "transform": {
                    "location": {
                        "x": 976.451171875,
                        "y": 3280.7421875,
                        "z": 368.4299011230469
                    },
                    "rotation": {
                        "roll": -0.09265131503343582,
                        "pitch": 1.3785301446914673,
                        "yaw": 83.84855651855469
                    }
                },
                "velocity": {
                    "x": 0.7960372567176819,
                    "y": 5.541053771972656,
                    "z": 0.12068719416856766
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024023056030273,
                "transform": {
                    "location": {
                        "x": 977.2039794921875,
                        "y": 3338.692138671875,
                        "z": 369.45831298828125
                    },
                    "rotation": {
                        "roll": 0.0010455655865371227,
                        "pitch": -0.8677344918251038,
                        "yaw": -80.82655334472656
                    }
                },
                "velocity": {
                    "x": 1.2790544033050537,
                    "y": -7.920524597167969,
                    "z": -0.11942064762115479
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023065567016602,
                "transform": {
                    "location": {
                        "x": 973.99560546875,
                        "y": 3338.17236328125,
                        "z": 369.4582214355469
                    },
                    "rotation": {
                        "roll": 0.0003517150762490928,
                        "pitch": -0.8681306838989258,
                        "yaw": -80.82896423339844
                    }
                },
                "velocity": {
                    "x": 1.2785550355911255,
                    "y": -7.919637203216553,
                    "z": -0.11928817629814148
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6568728685379028,
                "transform": {
                    "location": {
                        "x": 978.6236572265625,
                        "y": 3267.942138671875,
                        "z": 368.1363220214844
                    },
                    "rotation": {
                        "roll": 0.01333178486675024,
                        "pitch": 1.441381573677063,
                        "yaw": 92.9688949584961
                    }
                },
                "velocity": {
                    "x": -0.08781478554010391,
                    "y": 1.654112458229065,
                    "z": 0.037794120609760284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.019726753234863,
                "transform": {
                    "location": {
                        "x": 975.2866821289062,
                        "y": 3306.697509765625,
                        "z": 368.94451904296875
                    },
                    "rotation": {
                        "roll": -0.07910152524709702,
                        "pitch": 0.9799271821975708,
                        "yaw": 97.14459228515625
                    }
                },
                "velocity": {
                    "x": -1.3723903894424438,
                    "y": 10.932141304016113,
                    "z": 0.19801221787929535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.834396839141846,
                "transform": {
                    "location": {
                        "x": 971.7372436523438,
                        "y": 3330.482177734375,
                        "z": 369.345458984375
                    },
                    "rotation": {
                        "roll": -0.0013733052182942629,
                        "pitch": 0.9028416872024536,
                        "yaw": 99.13201904296875
                    }
                },
                "velocity": {
                    "x": -1.2407176494598389,
                    "y": 7.734560489654541,
                    "z": 0.12234624475240707
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.018645286560059,
                "transform": {
                    "location": {
                        "x": 969.1610717773438,
                        "y": 3346.515625,
                        "z": 369.58782958984375
                    },
                    "rotation": {
                        "roll": 0.00218691723421216,
                        "pitch": 0.806037425994873,
                        "yaw": 99.14729309082031
                    }
                },
                "velocity": {
                    "x": -1.274829626083374,
                    "y": 7.91587495803833,
                    "z": 0.1113756000995636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.00034382755984552205,
                "transform": {
                    "location": {
                        "x": 955.878173828125,
                        "y": 3403.589599609375,
                        "z": 370.2167053222656
                    },
                    "rotation": {
                        "roll": 0.0014309037942439318,
                        "pitch": 0.16509932279586792,
                        "yaw": 99.13904571533203
                    }
                },
                "velocity": {
                    "x": -7.596751402161317e-06,
                    "y": 3.964975348935695e-06,
                    "z": 0.00034372074878774583
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0002670625690370798,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": -0.0014038190711289644,
                        "pitch": 0.7126209139823914,
                        "yaw": 99.13841247558594
                    }
                },
                "velocity": {
                    "x": -2.311989646841539e-06,
                    "y": -1.602113297849428e-05,
                    "z": -0.00026657155831344426
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1532072275876999,
        "expert_target_speed": 7.297638837489638,
        "target_point": [
            28.499022811474866,
            1.3191421930832075
        ],
        "target_point_next": [
            79.46564770351829,
            3.162546999678483
        ]
    },
    "95": {
        "acceleration": [
            -1.1190009117126465,
            5.144901275634766,
            0.0720725953578949
        ],
        "angular_velocity": [
            0.16513630747795105,
            0.22993721067905426,
            3.2325079441070557
        ],
        "forward_vector": [
            -0.13393206894397736,
            0.9906466007232666,
            0.02610565535724163
        ],
        "right_vector": [
            -0.9909749031066895,
            -0.13403134047985077,
            0.0020829448476433754
        ],
        "location": [
            971.239013671875,
            3315.8623046875,
            369.1094055175781
        ],
        "rotation": [
            -0.11938471347093582,
            1.4959137439727783,
            97.69950866699219
        ],
        "velocity": [
            -1.0841232538223267,
            7.6111884117126465,
            0.1276528537273407
        ],
        "speed": 7.688010943544968,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.07206726074219,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                1.0300595022272319e-05,
                -1.7209871657541953e-05,
                -0.00039587082574144006
            ],
            "speed_kmh": 0.0014269629512607713,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041629791259766,
                "transform": {
                    "location": {
                        "x": 971.0767211914062,
                        "y": 3376.427978515625,
                        "z": 369.9464111328125
                    },
                    "rotation": {
                        "roll": -0.013580323196947575,
                        "pitch": -0.6570778489112854,
                        "yaw": -80.25971984863281
                    }
                },
                "velocity": {
                    "x": 1.3613113164901733,
                    "y": -7.925062656402588,
                    "z": -0.08954291045665741
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.011704444885254,
                "transform": {
                    "location": {
                        "x": 967.8602905273438,
                        "y": 3375.968017578125,
                        "z": 369.9518127441406
                    },
                    "rotation": {
                        "roll": -0.006195079535245895,
                        "pitch": -0.6444419622421265,
                        "yaw": -80.28475189208984
                    }
                },
                "velocity": {
                    "x": 1.3559255599975586,
                    "y": -7.895604610443115,
                    "z": -0.09107499569654465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.207487106323242,
                "transform": {
                    "location": {
                        "x": 976.6767578125,
                        "y": 3282.2490234375,
                        "z": 368.4625244140625
                    },
                    "rotation": {
                        "roll": -0.2626648247241974,
                        "pitch": 1.5386502742767334,
                        "yaw": 82.13742065429688
                    }
                },
                "velocity": {
                    "x": 0.9420847296714783,
                    "y": 7.144028186798096,
                    "z": 0.1523488461971283
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.065813064575195,
                "transform": {
                    "location": {
                        "x": 977.5242919921875,
                        "y": 3336.7060546875,
                        "z": 369.4280700683594
                    },
                    "rotation": {
                        "roll": 0.0012881004950031638,
                        "pitch": -0.892671525478363,
                        "yaw": -80.83853912353516
                    }
                },
                "velocity": {
                    "x": 1.2840365171432495,
                    "y": -7.96199369430542,
                    "z": -0.1234898641705513
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.066315650939941,
                "transform": {
                    "location": {
                        "x": 974.31591796875,
                        "y": 3336.1865234375,
                        "z": 369.4280090332031
                    },
                    "rotation": {
                        "roll": 0.00012776133371517062,
                        "pitch": -0.8916264772415161,
                        "yaw": -80.8384780883789
                    }
                },
                "velocity": {
                    "x": 1.28407621383667,
                    "y": -7.962487697601318,
                    "z": -0.1240440160036087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1459975242614746,
                "transform": {
                    "location": {
                        "x": 978.5958862304688,
                        "y": 3268.4609375,
                        "z": 368.1480407714844
                    },
                    "rotation": {
                        "roll": 0.01301164086908102,
                        "pitch": 1.4063290357589722,
                        "yaw": 93.05457305908203
                    }
                },
                "velocity": {
                    "x": -0.1137661561369896,
                    "y": 2.1424272060394287,
                    "z": 0.0486622117459774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.47668170928955,
                "transform": {
                    "location": {
                        "x": 974.9330444335938,
                        "y": 3309.397216796875,
                        "z": 368.99322509765625
                    },
                    "rotation": {
                        "roll": -0.10488893836736679,
                        "pitch": 0.8849465847015381,
                        "yaw": 97.60899353027344
                    }
                },
                "velocity": {
                    "x": -1.3944886922836304,
                    "y": 10.381828308105469,
                    "z": 0.18414776027202606
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.670640468597412,
                "transform": {
                    "location": {
                        "x": 971.4313354492188,
                        "y": 3332.3896484375,
                        "z": 369.3752746582031
                    },
                    "rotation": {
                        "roll": -0.002014180412515998,
                        "pitch": 0.8753774762153625,
                        "yaw": 99.10171508789062
                    }
                },
                "velocity": {
                    "x": -1.2146949768066406,
                    "y": 7.57291841506958,
                    "z": 0.1189441829919815
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036892890930176,
                "transform": {
                    "location": {
                        "x": 968.8418579101562,
                        "y": 3348.49560546875,
                        "z": 369.6155090332031
                    },
                    "rotation": {
                        "roll": 0.0016733319498598576,
                        "pitch": 0.7648650407791138,
                        "yaw": 99.16748046875
                    }
                },
                "velocity": {
                    "x": -1.2786216735839844,
                    "y": 7.93377161026001,
                    "z": 0.10975595563650131
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.4548614025115967,
                "transform": {
                    "location": {
                        "x": 955.8751831054688,
                        "y": 3403.608642578125,
                        "z": 370.2167053222656
                    },
                    "rotation": {
                        "roll": 0.0007805197383277118,
                        "pitch": -0.06750275939702988,
                        "yaw": 99.13418579101562
                    }
                },
                "velocity": {
                    "x": -0.07163888961076736,
                    "y": 0.4491688013076782,
                    "z": 0.0037620924413204193
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0003963786002714187,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": -0.000823982001747936,
                        "pitch": 0.7130717039108276,
                        "yaw": 99.13841247558594
                    }
                },
                "velocity": {
                    "x": 1.0300595022272319e-05,
                    "y": -1.7209871657541953e-05,
                    "z": -0.00039587082574144006
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14619484543800354,
        "expert_target_speed": 8.381362747723934,
        "target_point": [
            26.74402559894991,
            1.005729116623351
        ],
        "target_point_next": [
            77.7278023625521,
            2.2900581579584554
        ]
    },
    "100": {
        "acceleration": [
            -0.3037071228027344,
            0.9852409362792969,
            0.010668635368347168
        ],
        "angular_velocity": [
            -0.9877761602401733,
            -0.3452613353729248,
            2.509732961654663
        ],
        "forward_vector": [
            -0.14679396152496338,
            0.9888355135917664,
            0.02561098150908947
        ],
        "right_vector": [
            -0.9891485571861267,
            -0.14690054953098297,
            0.0023209804203361273
        ],
        "location": [
            970.937255859375,
            3317.90869140625,
            369.1436767578125
        ],
        "rotation": [
            -0.1330261379480362,
            1.4675617218017578,
            98.4439697265625
        ],
        "velocity": [
            -1.310858130455017,
            8.566425323486328,
            0.1427430361509323
        ],
        "speed": 8.666140540116336,
        "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": 78.00414276123047,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.3087768554688,
                3394.70654296875,
                370.1441345214844
            ],
            "velocity": [
                -4.854421058553271e-05,
                -3.6306304536992684e-05,
                -7.102126983227208e-05
            ],
            "speed_kmh": 0.00033614649683174697,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.247493743896484,
                "transform": {
                    "location": {
                        "x": 971.4155883789062,
                        "y": 3374.419189453125,
                        "z": 369.92327880859375
                    },
                    "rotation": {
                        "roll": 0.003493822878226638,
                        "pitch": -0.6639626622200012,
                        "yaw": -80.44624328613281
                    }
                },
                "velocity": {
                    "x": 1.363425374031067,
                    "y": -8.133447647094727,
                    "z": -0.09615235775709152
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.08655834197998,
                "transform": {
                    "location": {
                        "x": 968.1954345703125,
                        "y": 3373.9833984375,
                        "z": 369.9288635253906
                    },
                    "rotation": {
                        "roll": -0.01177977491170168,
                        "pitch": -0.6648847460746765,
                        "yaw": -80.42391204833984
                    }
                },
                "velocity": {
                    "x": 1.3259588479995728,
                    "y": -7.976563453674316,
                    "z": -0.09329835325479507
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.833670616149902,
                "transform": {
                    "location": {
                        "x": 976.8292846679688,
                        "y": 3284.274658203125,
                        "z": 368.505859375
                    },
                    "rotation": {
                        "roll": -0.5200804471969604,
                        "pitch": 1.5687577724456787,
                        "yaw": 85.78365325927734
                    }
                },
                "velocity": {
                    "x": 0.45693153142929077,
                    "y": 8.819818496704102,
                    "z": 0.1890786737203598
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04357624053955,
                "transform": {
                    "location": {
                        "x": 977.8447265625,
                        "y": 3334.7177734375,
                        "z": 369.3968200683594
                    },
                    "rotation": {
                        "roll": 0.002675493946298957,
                        "pitch": -0.8968174457550049,
                        "yaw": -80.84410095214844
                    }
                },
                "velocity": {
                    "x": 1.278990387916565,
                    "y": -7.940245628356934,
                    "z": -0.12568701803684235
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043486595153809,
                "transform": {
                    "location": {
                        "x": 974.636474609375,
                        "y": 3334.197998046875,
                        "z": 369.3967590332031
                    },
                    "rotation": {
                        "roll": -0.00036623369669541717,
                        "pitch": -0.8967832922935486,
                        "yaw": -80.84428405761719
                    }
                },
                "velocity": {
                    "x": 1.2796887159347534,
                    "y": -7.940043926239014,
                    "z": -0.12558390200138092
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6764484643936157,
                "transform": {
                    "location": {
                        "x": 978.5856323242188,
                        "y": 3268.651611328125,
                        "z": 368.1521301269531
                    },
                    "rotation": {
                        "roll": 0.012777459807693958,
                        "pitch": 1.191990852355957,
                        "yaw": 93.17928314208984
                    }
                },
                "velocity": {
                    "x": -0.03757816553115845,
                    "y": 0.6752124428749084,
                    "z": 0.016081275418400764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.735616683959961,
                "transform": {
                    "location": {
                        "x": 974.6088256835938,
                        "y": 3311.7841796875,
                        "z": 369.03668212890625
                    },
                    "rotation": {
                        "roll": -0.09231564402580261,
                        "pitch": 0.46487632393836975,
                        "yaw": 97.81271362304688
                    }
                },
                "velocity": {
                    "x": -1.2184034585952759,
                    "y": 8.648932456970215,
                    "z": 0.14987972378730774
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.800504207611084,
                "transform": {
                    "location": {
                        "x": 971.1245727539062,
                        "y": 3334.298095703125,
                        "z": 369.40521240234375
                    },
                    "rotation": {
                        "roll": -0.0017394600436091423,
                        "pitch": 0.9040437936782837,
                        "yaw": 99.14871978759766
                    }
                },
                "velocity": {
                    "x": -1.2375319004058838,
                    "y": 7.700780391693115,
                    "z": 0.11982520669698715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035025596618652,
                "transform": {
                    "location": {
                        "x": 968.5223999023438,
                        "y": 3350.4794921875,
                        "z": 369.6420593261719
                    },
                    "rotation": {
                        "roll": -0.0005798438796773553,
                        "pitch": 0.7644825577735901,
                        "yaw": 99.13394927978516
                    }
                },
                "velocity": {
                    "x": -1.2773491144180298,
                    "y": 7.932138919830322,
                    "z": 0.1057838425040245
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.6713733077049255,
                "transform": {
                    "location": {
                        "x": 955.8526611328125,
                        "y": 3403.749267578125,
                        "z": 370.2178955078125
                    },
                    "rotation": {
                        "roll": -0.002105713589116931,
                        "pitch": -0.05694328248500824,
                        "yaw": 99.12066650390625
                    }
                },
                "velocity": {
                    "x": -0.10568877309560776,
                    "y": 0.6629818677902222,
                    "z": 0.005199489649385214
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 9.337403025710955e-05,
                "transform": {
                    "location": {
                        "x": 957.3087768554688,
                        "y": 3394.70654296875,
                        "z": 370.1441345214844
                    },
                    "rotation": {
                        "roll": -0.0005493124481290579,
                        "pitch": 0.7127575278282166,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": -4.854421058553271e-05,
                    "y": -3.6306304536992684e-05,
                    "z": -7.102126983227208e-05
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14526425302028656,
        "expert_target_speed": 9.110629602303954,
        "target_point": [
            24.686320802815892,
            0.6601756504179637
        ],
        "target_point_next": [
            75.68248101432172,
            1.281977748892217
        ]
    },
    "105": {
        "acceleration": [
            -0.7224750518798828,
            3.46527099609375,
            0.053403377532958984
        ],
        "angular_velocity": [
            0.0019384529441595078,
            -0.08006440103054047,
            1.1196694374084473
        ],
        "forward_vector": [
            -0.1531490683555603,
            0.9878848195075989,
            0.02508007548749447
        ],
        "right_vector": [
            -0.9881883859634399,
            -0.15323607623577118,
            0.0015734330518171191
        ],
        "location": [
            970.5901489257812,
            3320.162841796875,
            369.1808776855469
        ],
        "rotation": [
            -0.09017947316169739,
            1.4371331930160522,
            98.812255859375
        ],
        "velocity": [
            -1.5065083503723145,
            9.60509967803955,
            0.1579235941171646
        ],
        "speed": 9.722525764163189,
        "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": 75.84265899658203,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.2899169921875,
                3394.823974609375,
                370.1441955566406
            ],
            "velocity": [
                -0.21403609216213226,
                1.3295222520828247,
                0.01130024902522564
            ],
            "speed_kmh": 4.84807679173366,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.064324378967285,
                "transform": {
                    "location": {
                        "x": 971.7509765625,
                        "y": 3372.4091796875,
                        "z": 369.8995666503906
                    },
                    "rotation": {
                        "roll": 0.001500315498560667,
                        "pitch": -0.6679378151893616,
                        "yaw": -80.54423522949219
                    }
                },
                "velocity": {
                    "x": 1.3232475519180298,
                    "y": -7.954482078552246,
                    "z": -0.09255567938089371
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.64142370223999,
                "transform": {
                    "location": {
                        "x": 968.5240478515625,
                        "y": 3372.009033203125,
                        "z": 369.9054260253906
                    },
                    "rotation": {
                        "roll": -0.005310078617185354,
                        "pitch": -0.6361364722251892,
                        "yaw": -80.5412826538086
                    }
                },
                "velocity": {
                    "x": 1.2494302988052368,
                    "y": -7.5380730628967285,
                    "z": -0.08794049173593521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.391768455505371,
                "transform": {
                    "location": {
                        "x": 976.9183959960938,
                        "y": 3286.585205078125,
                        "z": 368.5545349121094
                    },
                    "rotation": {
                        "roll": -0.3525695204734802,
                        "pitch": 1.3794454336166382,
                        "yaw": 88.01539611816406
                    }
                },
                "velocity": {
                    "x": 0.2713783085346222,
                    "y": 9.385790824890137,
                    "z": 0.19646361470222473
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044318199157715,
                "transform": {
                    "location": {
                        "x": 978.1644287109375,
                        "y": 3332.733642578125,
                        "z": 369.3655700683594
                    },
                    "rotation": {
                        "roll": 0.0006853434024378657,
                        "pitch": -0.8936687111854553,
                        "yaw": -80.84877014160156
                    }
                },
                "velocity": {
                    "x": 1.2791402339935303,
                    "y": -7.941005706787109,
                    "z": -0.12362498790025711
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043681144714355,
                "transform": {
                    "location": {
                        "x": 974.9561767578125,
                        "y": 3332.21435546875,
                        "z": 369.3655700683594
                    },
                    "rotation": {
                        "roll": -0.0005798627971671522,
                        "pitch": -0.8935867547988892,
                        "yaw": -80.84437561035156
                    }
                },
                "velocity": {
                    "x": 1.2797050476074219,
                    "y": -7.940282821655273,
                    "z": -0.1227748766541481
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.588681936264038,
                "transform": {
                    "location": {
                        "x": 978.5698852539062,
                        "y": 3268.942626953125,
                        "z": 368.1590881347656
                    },
                    "rotation": {
                        "roll": 0.014426883310079575,
                        "pitch": 1.398597240447998,
                        "yaw": 93.14122009277344
                    }
                },
                "velocity": {
                    "x": -0.08436110615730286,
                    "y": 1.586037278175354,
                    "z": 0.035768136382102966
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.689108848571777,
                "transform": {
                    "location": {
                        "x": 974.3055419921875,
                        "y": 3313.90625,
                        "z": 369.0723876953125
                    },
                    "rotation": {
                        "roll": -0.07623293250799179,
                        "pitch": 0.6993361711502075,
                        "yaw": 98.18579864501953
                    }
                },
                "velocity": {
                    "x": -1.2504674196243286,
                    "y": 8.597395896911621,
                    "z": 0.14739473164081573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.750528335571289,
                "transform": {
                    "location": {
                        "x": 970.8156127929688,
                        "y": 3336.22119140625,
                        "z": 369.4352722167969
                    },
                    "rotation": {
                        "roll": -0.0021056593395769596,
                        "pitch": 0.8892427682876587,
                        "yaw": 99.11563110351562
                    }
                },
                "velocity": {
                    "x": -1.2298592329025269,
                    "y": 7.651397705078125,
                    "z": 0.11935125291347504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02733325958252,
                "transform": {
                    "location": {
                        "x": 968.2033081054688,
                        "y": 3352.461181640625,
                        "z": 369.6685791015625
                    },
                    "rotation": {
                        "roll": -0.0013427851954475045,
                        "pitch": 0.764188826084137,
                        "yaw": 99.15791320800781
                    }
                },
                "velocity": {
                    "x": -1.2756701707839966,
                    "y": 7.924615383148193,
                    "z": 0.1058834046125412
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.8984458446502686,
                "transform": {
                    "location": {
                        "x": 955.8212280273438,
                        "y": 3403.9443359375,
                        "z": 370.2195129394531
                    },
                    "rotation": {
                        "roll": 0.003000702476128936,
                        "pitch": -0.01782679185271263,
                        "yaw": 99.14335632324219
                    }
                },
                "velocity": {
                    "x": -0.1440027803182602,
                    "y": 0.8868064880371094,
                    "z": 0.006505899131298065
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.346687912940979,
                "transform": {
                    "location": {
                        "x": 957.2899169921875,
                        "y": 3394.823974609375,
                        "z": 370.1441955566406
                    },
                    "rotation": {
                        "roll": 4.618382445187308e-05,
                        "pitch": 0.03282588720321655,
                        "yaw": 99.13960266113281
                    }
                },
                "velocity": {
                    "x": -0.21403609216213226,
                    "y": 1.3295222520828247,
                    "z": 0.01130024902522564
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.9407458305358887,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1840897649526596,
        "expert_target_speed": 9.824163622166681,
        "target_point": [
            22.409336985017937,
            0.5038000948705221
        ],
        "target_point_next": [
            73.40844055762533,
            0.797788117928679
        ]
    },
    "110": {
        "acceleration": [
            -0.12619972229003906,
            -0.33756256103515625,
            0.011502206325531006
        ],
        "angular_velocity": [
            -1.129401445388794,
            -0.17712639272212982,
            1.1138049364089966
        ],
        "forward_vector": [
            -0.15796107053756714,
            0.9872163534164429,
            0.021264735609292984
        ],
        "right_vector": [
            -0.9874342679977417,
            -0.1580246537923813,
            0.0013323453022167087
        ],
        "location": [
            970.2025756835938,
            3322.603759765625,
            369.2215270996094
        ],
        "rotation": [
            -0.07635505497455597,
            1.2184715270996094,
            99.09064483642578
        ],
        "velocity": [
            -1.5850497484207153,
            9.816265106201172,
            0.15888595581054688
        ],
        "speed": 9.94341205724631,
        "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": 73.7350082397461,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.232177734375,
                3395.18310546875,
                370.14794921875
            ],
            "velocity": [
                -0.24363377690315247,
                1.507258415222168,
                0.014115133322775364
            ],
            "speed_kmh": 5.4967939942345785,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.269919395446777,
                "transform": {
                    "location": {
                        "x": 972.0850830078125,
                        "y": 3370.394287109375,
                        "z": 369.8759765625
                    },
                    "rotation": {
                        "roll": 0.004917476791888475,
                        "pitch": -0.6614354848861694,
                        "yaw": -80.60686492919922
                    }
                },
                "velocity": {
                    "x": 1.3437925577163696,
                    "y": -8.159445762634277,
                    "z": -0.09614045917987823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.111517429351807,
                "transform": {
                    "location": {
                        "x": 968.7907104492188,
                        "y": 3370.397216796875,
                        "z": 369.8857727050781
                    },
                    "rotation": {
                        "roll": -0.0064697591587901115,
                        "pitch": -0.5421394109725952,
                        "yaw": -80.60708618164062
                    }
                },
                "velocity": {
                    "x": 0.9864401817321777,
                    "y": -6.030969142913818,
                    "z": -0.07065651565790176
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.980506896972656,
                "transform": {
                    "location": {
                        "x": 976.8907470703125,
                        "y": 3289.153564453125,
                        "z": 368.6080627441406
                    },
                    "rotation": {
                        "roll": -0.43997183442115784,
                        "pitch": 1.4671381711959839,
                        "yaw": 91.28771209716797
                    }
                },
                "velocity": {
                    "x": -0.34303873777389526,
                    "y": 10.972819328308105,
                    "z": 0.22603116929531097
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.055357933044434,
                "transform": {
                    "location": {
                        "x": 978.4842529296875,
                        "y": 3330.74658203125,
                        "z": 369.33453369140625
                    },
                    "rotation": {
                        "roll": 0.0008245519711636007,
                        "pitch": -0.8930676579475403,
                        "yaw": -80.85584259033203
                    }
                },
                "velocity": {
                    "x": 1.279983639717102,
                    "y": -7.952016830444336,
                    "z": -0.1259060502052307
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05573558807373,
                "transform": {
                    "location": {
                        "x": 975.2764892578125,
                        "y": 3330.226806640625,
                        "z": 369.3344421386719
                    },
                    "rotation": {
                        "roll": 1.4035611457074992e-05,
                        "pitch": -0.8939487934112549,
                        "yaw": -80.84432220458984
                    }
                },
                "velocity": {
                    "x": 1.2816870212554932,
                    "y": -7.95212984085083,
                    "z": -0.12566569447517395
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.661141872406006,
                "transform": {
                    "location": {
                        "x": 978.541748046875,
                        "y": 3269.47119140625,
                        "z": 368.17120361328125
                    },
                    "rotation": {
                        "roll": 0.008927901275455952,
                        "pitch": 1.4668171405792236,
                        "yaw": 93.028076171875
                    }
                },
                "velocity": {
                    "x": -0.14143262803554535,
                    "y": 2.656675338745117,
                    "z": 0.06122254207730293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.487521171569824,
                "transform": {
                    "location": {
                        "x": 973.9808349609375,
                        "y": 3316.1318359375,
                        "z": 369.10882568359375
                    },
                    "rotation": {
                        "roll": -0.0427246131002903,
                        "pitch": 1.0532629489898682,
                        "yaw": 98.33052062988281
                    }
                },
                "velocity": {
                    "x": -1.3785865306854248,
                    "y": 9.385519981384277,
                    "z": 0.1567983329296112
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.733745574951172,
                "transform": {
                    "location": {
                        "x": 970.509033203125,
                        "y": 3338.1279296875,
                        "z": 369.4642639160156
                    },
                    "rotation": {
                        "roll": -0.0005798825877718627,
                        "pitch": 0.8484597206115723,
                        "yaw": 99.15145874023438
                    }
                },
                "velocity": {
                    "x": -1.2285106182098389,
                    "y": 7.634673118591309,
                    "z": 0.11552289873361588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036858558654785,
                "transform": {
                    "location": {
                        "x": 967.8843383789062,
                        "y": 3354.443603515625,
                        "z": 369.6950988769531
                    },
                    "rotation": {
                        "roll": -0.00042721867794170976,
                        "pitch": 0.7678976058959961,
                        "yaw": 99.12947845458984
                    }
                },
                "velocity": {
                    "x": -1.2769643068313599,
                    "y": 7.934041500091553,
                    "z": 0.10697862505912781
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.120453953742981,
                "transform": {
                    "location": {
                        "x": 955.7810668945312,
                        "y": 3404.1943359375,
                        "z": 370.2215270996094
                    },
                    "rotation": {
                        "roll": 0.0032157469540834427,
                        "pitch": -0.027587132528424263,
                        "yaw": 99.1226577758789
                    }
                },
                "velocity": {
                    "x": -0.17667116224765778,
                    "y": 1.1063936948776245,
                    "z": 0.009865913540124893
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.52688729763031,
                "transform": {
                    "location": {
                        "x": 957.232177734375,
                        "y": 3395.18310546875,
                        "z": 370.14794921875
                    },
                    "rotation": {
                        "roll": 0.0023739503230899572,
                        "pitch": 0.4882287383079529,
                        "yaw": 99.1457748413086
                    }
                },
                "velocity": {
                    "x": -0.24363377690315247,
                    "y": 1.507258415222168,
                    "z": 0.014115133322775364
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.44139236211776733,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2645058035850525,
        "expert_target_speed": 9.963367391705987,
        "target_point": [
            19.940025746434667,
            0.39787112771715005
        ],
        "target_point_next": [
            70.93995573764326,
            0.444077827029977
        ]
    },
    "115": {
        "acceleration": [
            -0.0244140625,
            -1.0689544677734375,
            -0.015433430671691895
        ],
        "angular_velocity": [
            -0.7218433022499084,
            -0.12611930072307587,
            1.119009256362915
        ],
        "forward_vector": [
            -0.16278941929340363,
            0.986514151096344,
            0.017011534422636032
        ],
        "right_vector": [
            -0.9866529107093811,
            -0.16283318400382996,
            0.0012104971101507545
        ],
        "location": [
            969.805419921875,
            3325.03076171875,
            369.2616271972656
        ],
        "rotation": [
            -0.06936643272638321,
            0.974736213684082,
            99.37020874023438
        ],
        "velocity": [
            -1.5954262018203735,
            9.582706451416016,
            0.157215416431427
        ],
        "speed": 9.714610012731603,
        "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": 71.67599487304688,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.1685180664062,
                3395.578369140625,
                370.1515808105469
            ],
            "velocity": [
                -0.28003668785095215,
                1.7393261194229126,
                0.014773139730095863
            ],
            "speed_kmh": 6.342433923905864,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.768370628356934,
                "transform": {
                    "location": {
                        "x": 976.0835571289062,
                        "y": 3276.934326171875,
                        "z": 368.7308654785156
                    },
                    "rotation": {
                        "roll": 1.0674862949144881e-07,
                        "pitch": 1.2871490716934204,
                        "yaw": 99.92573547363281
                    }
                },
                "velocity": {
                    "x": -1.683136224746704,
                    "y": 9.6184663772583,
                    "z": -0.2706016004085541
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.086997032165527,
                "transform": {
                    "location": {
                        "x": 972.41552734375,
                        "y": 3368.37744140625,
                        "z": 369.852294921875
                    },
                    "rotation": {
                        "roll": 0.004808967001736164,
                        "pitch": -0.6681495308876038,
                        "yaw": -80.7048568725586
                    }
                },
                "velocity": {
                    "x": 1.304424524307251,
                    "y": -7.980556964874268,
                    "z": -0.09333375841379166
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.5415143966674805,
                "transform": {
                    "location": {
                        "x": 969.0425415039062,
                        "y": 3368.857421875,
                        "z": 369.86871337890625
                    },
                    "rotation": {
                        "roll": -0.0031433026306331158,
                        "pitch": -0.6704103350639343,
                        "yaw": -80.67674255371094
                    }
                },
                "velocity": {
                    "x": 1.0535662174224854,
                    "y": -6.455672264099121,
                    "z": -0.07551894336938858
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.044388771057129,
                "transform": {
                    "location": {
                        "x": 976.7659301757812,
                        "y": 3292.037109375,
                        "z": 368.6671447753906
                    },
                    "rotation": {
                        "roll": -0.276397705078125,
                        "pitch": 1.4061651229858398,
                        "yaw": 92.92772674560547
                    }
                },
                "velocity": {
                    "x": -0.6235150098800659,
                    "y": 12.025801658630371,
                    "z": 0.24212029576301575
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042339324951172,
                "transform": {
                    "location": {
                        "x": 978.803955078125,
                        "y": 3328.76025390625,
                        "z": 369.30279541015625
                    },
                    "rotation": {
                        "roll": -0.0001831046974984929,
                        "pitch": -0.9202244877815247,
                        "yaw": -80.85623931884766
                    }
                },
                "velocity": {
                    "x": 1.2777773141860962,
                    "y": -7.939178466796875,
                    "z": -0.12628647685050964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043131828308105,
                "transform": {
                    "location": {
                        "x": 975.5960693359375,
                        "y": 3328.240966796875,
                        "z": 369.3027648925781
                    },
                    "rotation": {
                        "roll": 0.0003796046366915107,
                        "pitch": -0.9196780920028687,
                        "yaw": -80.8585433959961
                    }
                },
                "velocity": {
                    "x": 1.277625560760498,
                    "y": -7.940005302429199,
                    "z": -0.12634029984474182
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.168721675872803,
                "transform": {
                    "location": {
                        "x": 978.4956665039062,
                        "y": 3270.33251953125,
                        "z": 368.1910400390625
                    },
                    "rotation": {
                        "roll": 0.006351896096020937,
                        "pitch": 1.5336915254592896,
                        "yaw": 93.04607391357422
                    }
                },
                "velocity": {
                    "x": -0.2230454832315445,
                    "y": 4.161661148071289,
                    "z": 0.09521627426147461
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.259201049804688,
                "transform": {
                    "location": {
                        "x": 973.6036987304688,
                        "y": 3318.640869140625,
                        "z": 369.1496276855469
                    },
                    "rotation": {
                        "roll": -0.07550052553415298,
                        "pitch": 1.2700258493423462,
                        "yaw": 98.64411163330078
                    }
                },
                "velocity": {
                    "x": -1.5547305345535278,
                    "y": 10.139323234558105,
                    "z": 0.16776937246322632
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.78035831451416,
                "transform": {
                    "location": {
                        "x": 970.20068359375,
                        "y": 3340.044189453125,
                        "z": 369.49273681640625
                    },
                    "rotation": {
                        "roll": 0.00041759241139516234,
                        "pitch": 0.8297722935676575,
                        "yaw": 99.12786102294922
                    }
                },
                "velocity": {
                    "x": -1.2355177402496338,
                    "y": 7.680830478668213,
                    "z": 0.11098144203424454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.031756401062012,
                "transform": {
                    "location": {
                        "x": 967.5651245117188,
                        "y": 3356.426513671875,
                        "z": 369.72076416015625
                    },
                    "rotation": {
                        "roll": -9.152125858236104e-05,
                        "pitch": 0.7285147905349731,
                        "yaw": 99.15724182128906
                    }
                },
                "velocity": {
                    "x": -1.2762832641601562,
                    "y": 7.929037094116211,
                    "z": 0.1028614193201065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.3384830951690674,
                "transform": {
                    "location": {
                        "x": 955.7319946289062,
                        "y": 3404.4990234375,
                        "z": 370.22381591796875
                    },
                    "rotation": {
                        "roll": 0.0011525435838848352,
                        "pitch": -0.026671886444091797,
                        "yaw": 99.14033508300781
                    }
                },
                "velocity": {
                    "x": -0.21379506587982178,
                    "y": 1.3212625980377197,
                    "z": 0.009684829041361809
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.7617871761322021,
                "transform": {
                    "location": {
                        "x": 957.1685180664062,
                        "y": 3395.578369140625,
                        "z": 370.1515808105469
                    },
                    "rotation": {
                        "roll": 0.0007641111733391881,
                        "pitch": 0.5649453997612,
                        "yaw": 99.14305877685547
                    }
                },
                "velocity": {
                    "x": -0.28003668785095215,
                    "y": 1.7393261194229126,
                    "z": 0.014773139730095863
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.957927405834198,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22566895186901093,
        "expert_target_speed": 9.819049282750719,
        "target_point": [
            17.482449381916428,
            0.30385707685905006
        ],
        "target_point_next": [
            68.4819976539145,
            0.10119918933055772
        ]
    },
    "120": {
        "acceleration": [
            1.0039925575256348,
            -6.648311614990234,
            -0.13098478317260742
        ],
        "angular_velocity": [
            -2.003704071044922,
            -0.4000205397605896,
            0.7923299670219421
        ],
        "forward_vector": [
            -0.16713447868824005,
            0.985845685005188,
            0.013206335715949535
        ],
        "right_vector": [
            -0.9859290719032288,
            -0.16716140508651733,
            0.0009549274109303951
        ],
        "location": [
            969.4121704101562,
            3327.3662109375,
            369.30035400390625
        ],
        "rotation": [
            -0.05471808835864067,
            0.7566893100738525,
            99.62210083007812
        ],
        "velocity": [
            -1.5040377378463745,
            8.80900764465332,
            0.14112140238285065
        ],
        "speed": 8.936483939471199,
        "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": 69.77430725097656,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.0943603515625,
                3396.039306640625,
                370.1555480957031
            ],
            "velocity": [
                -0.3106722831726074,
                1.9290627241134644,
                0.015778902918100357
            ],
            "speed_kmh": 7.034338496543551,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 966.1206665039062,
                        "y": 3406.93994140625,
                        "z": 370.6330871582031
                    },
                    "rotation": {
                        "roll": 1.3340616611401401e-08,
                        "pitch": -0.44592252373695374,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.840046882629395,
                "transform": {
                    "location": {
                        "x": 975.7066040039062,
                        "y": 3279.3037109375,
                        "z": 368.41400146484375
                    },
                    "rotation": {
                        "roll": 0.4966869652271271,
                        "pitch": 1.2048999071121216,
                        "yaw": 98.28413391113281
                    }
                },
                "velocity": {
                    "x": -0.041237302124500275,
                    "y": 8.815054893493652,
                    "z": -0.6629743576049805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.292433738708496,
                "transform": {
                    "location": {
                        "x": 972.745361328125,
                        "y": 3366.35595703125,
                        "z": 369.8282775878906
                    },
                    "rotation": {
                        "roll": 0.001354019739665091,
                        "pitch": -0.6786475777626038,
                        "yaw": -80.7386474609375
                    }
                },
                "velocity": {
                    "x": 1.3345688581466675,
                    "y": -8.183744430541992,
                    "z": -0.09856667369604111
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.657011985778809,
                "transform": {
                    "location": {
                        "x": 969.3203125,
                        "y": 3367.15625,
                        "z": 369.8493957519531
                    },
                    "rotation": {
                        "roll": -0.0028380819130688906,
                        "pitch": -0.7531375885009766,
                        "yaw": -80.70702362060547
                    }
                },
                "velocity": {
                    "x": 1.2319523096084595,
                    "y": -7.55673885345459,
                    "z": -0.08844194561243057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.652743339538574,
                "transform": {
                    "location": {
                        "x": 976.5443725585938,
                        "y": 3295.119384765625,
                        "z": 368.7289733886719
                    },
                    "rotation": {
                        "roll": -0.2675779461860657,
                        "pitch": 1.3037532567977905,
                        "yaw": 94.69038391113281
                    }
                },
                "velocity": {
                    "x": -1.0447176694869995,
                    "y": 12.607075691223145,
                    "z": 0.2492375373840332
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.051081657409668,
                "transform": {
                    "location": {
                        "x": 979.1236572265625,
                        "y": 3326.774658203125,
                        "z": 369.27081298828125
                    },
                    "rotation": {
                        "roll": -0.001159682753495872,
                        "pitch": -0.9259687066078186,
                        "yaw": -80.85618591308594
                    }
                },
                "velocity": {
                    "x": 1.279051661491394,
                    "y": -7.94777774810791,
                    "z": -0.12951131165027618
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05123519897461,
                "transform": {
                    "location": {
                        "x": 975.9154663085938,
                        "y": 3326.2548828125,
                        "z": 369.2707214355469
                    },
                    "rotation": {
                        "roll": 0.0013287521433085203,
                        "pitch": -0.926576554775238,
                        "yaw": -80.8633041381836
                    }
                },
                "velocity": {
                    "x": 1.2783757448196411,
                    "y": -7.948049545288086,
                    "z": -0.12904556095600128
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7015109062194824,
                "transform": {
                    "location": {
                        "x": 978.4395141601562,
                        "y": 3271.3798828125,
                        "z": 368.2146911621094
                    },
                    "rotation": {
                        "roll": 0.005073718260973692,
                        "pitch": 1.3180625438690186,
                        "yaw": 93.05891418457031
                    }
                },
                "velocity": {
                    "x": -0.1983603984117508,
                    "y": 3.6952388286590576,
                    "z": 0.08393833041191101
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.977285385131836,
                "transform": {
                    "location": {
                        "x": 973.2344360351562,
                        "y": 3321.0380859375,
                        "z": 369.1907043457031
                    },
                    "rotation": {
                        "roll": -0.04965214431285858,
                        "pitch": 0.7561292052268982,
                        "yaw": 98.8026123046875
                    }
                },
                "velocity": {
                    "x": -1.375659465789795,
                    "y": 8.870073318481445,
                    "z": 0.14498445391654968
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.741092681884766,
                "transform": {
                    "location": {
                        "x": 969.8924560546875,
                        "y": 3341.959716796875,
                        "z": 369.5204162597656
                    },
                    "rotation": {
                        "roll": 0.0006912280223332345,
                        "pitch": 0.8246086835861206,
                        "yaw": 99.15866088867188
                    }
                },
                "velocity": {
                    "x": -1.2294659614562988,
                    "y": 7.642024517059326,
                    "z": 0.1113160103559494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032907485961914,
                "transform": {
                    "location": {
                        "x": 967.2461547851562,
                        "y": 3358.40869140625,
                        "z": 369.7459716796875
                    },
                    "rotation": {
                        "roll": -6.107601075200364e-05,
                        "pitch": 0.6973007917404175,
                        "yaw": 99.13270568847656
                    }
                },
                "velocity": {
                    "x": -1.276731014251709,
                    "y": 7.9301958084106445,
                    "z": 0.09779096394777298
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.554632544517517,
                "transform": {
                    "location": {
                        "x": 955.6744384765625,
                        "y": 3404.857177734375,
                        "z": 370.2265625
                    },
                    "rotation": {
                        "roll": -0.0007019045297056437,
                        "pitch": -0.025148754939436913,
                        "yaw": 99.13118743896484
                    }
                },
                "velocity": {
                    "x": -0.24599099159240723,
                    "y": 1.5350158214569092,
                    "z": 0.009862708859145641
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.953982949256897,
                "transform": {
                    "location": {
                        "x": 957.0943603515625,
                        "y": 3396.039306640625,
                        "z": 370.1555480957031
                    },
                    "rotation": {
                        "roll": 0.0001143851040978916,
                        "pitch": 0.5929765105247498,
                        "yaw": 99.1432876586914
                    }
                },
                "velocity": {
                    "x": -0.3106722831726074,
                    "y": 1.9290627241134644,
                    "z": 0.015778902918100357
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22827139496803284,
        "expert_target_speed": 9.300536026879838,
        "target_point": [
            15.115291700888097,
            0.22964968506295946
        ],
        "target_point_next": [
            66.11345622858458,
            -0.1972097452405368
        ]
    },
    "125": {
        "acceleration": [
            0.3777432441711426,
            -2.6874446868896484,
            -0.032563209533691406
        ],
        "angular_velocity": [
            -0.03762449696660042,
            -0.0764952003955841,
            0.6479274034500122
        ],
        "forward_vector": [
            -0.17022308707237244,
            0.9853606224060059,
            0.009412388317286968
        ],
        "right_vector": [
            -0.9854030609130859,
            -0.1702365279197693,
            0.0006385972374118865
        ],
        "location": [
            969.0564575195312,
            3329.4326171875,
            369.3340148925781
        ],
        "rotation": [
            -0.03659055009484291,
            0.5392980575561523,
            99.80123138427734
        ],
        "velocity": [
            -1.36932373046875,
            7.867457866668701,
            0.12579403817653656
        ],
        "speed": 7.985733576987908,
        "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": 68.18244934082031,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                957.0140380859375,
                3396.5380859375,
                370.1599426269531
            ],
            "velocity": [
                -0.33179572224617004,
                2.0631983280181885,
                0.018479375168681145
            ],
            "speed_kmh": 7.523239680636603,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.9473876953125,
                        "y": 3406.20361328125,
                        "z": 370.3796691894531
                    },
                    "rotation": {
                        "roll": 1.3340627269542438e-08,
                        "pitch": -0.45215165615081787,
                        "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": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.4400024414062,
                        "y": 3404.954833984375,
                        "z": 370.2724914550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4876413345336914,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.504375457763672,
                "transform": {
                    "location": {
                        "x": 975.9102783203125,
                        "y": 3281.40576171875,
                        "z": 368.4581298828125
                    },
                    "rotation": {
                        "roll": 0.31261172890663147,
                        "pitch": 1.159287929534912,
                        "yaw": 82.87037658691406
                    }
                },
                "velocity": {
                    "x": 1.965797781944275,
                    "y": 8.26843547821045,
                    "z": 0.30500540137290955
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.0156569480896,
                "transform": {
                    "location": {
                        "x": 973.0137939453125,
                        "y": 3364.702392578125,
                        "z": 369.8080139160156
                    },
                    "rotation": {
                        "roll": 0.001523917424492538,
                        "pitch": -0.9245889782905579,
                        "yaw": -80.77131652832031
                    }
                },
                "velocity": {
                    "x": 0.9620361924171448,
                    "y": -5.937786102294922,
                    "z": -0.07287083566188812
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.501102447509766,
                "transform": {
                    "location": {
                        "x": 969.6563720703125,
                        "y": 3365.09375,
                        "z": 369.82470703125
                    },
                    "rotation": {
                        "roll": -0.0032348698005080223,
                        "pitch": -0.7740448117256165,
                        "yaw": -80.75023651123047
                    }
                },
                "velocity": {
                    "x": 1.360323190689087,
                    "y": -8.390929222106934,
                    "z": -0.10279185324907303
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.628931045532227,
                "transform": {
                    "location": {
                        "x": 976.2672729492188,
                        "y": 3298.166259765625,
                        "z": 368.78863525390625
                    },
                    "rotation": {
                        "roll": -0.2028808295726776,
                        "pitch": 0.9994000792503357,
                        "yaw": 95.61140441894531
                    }
                },
                "velocity": {
                    "x": -1.1633116006851196,
                    "y": 11.568390846252441,
                    "z": 0.22602491080760956
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048367500305176,
                "transform": {
                    "location": {
                        "x": 979.4390258789062,
                        "y": 3324.787109375,
                        "z": 369.2384948730469
                    },
                    "rotation": {
                        "roll": 0.013525749556720257,
                        "pitch": -0.9248895049095154,
                        "yaw": -80.98893737792969
                    }
                },
                "velocity": {
                    "x": 1.2547270059585571,
                    "y": -7.948896408081055,
                    "z": -0.1301250010728836
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047270774841309,
                "transform": {
                    "location": {
                        "x": 976.2307739257812,
                        "y": 3324.267333984375,
                        "z": 369.23846435546875
                    },
                    "rotation": {
                        "roll": 0.013177476823329926,
                        "pitch": -0.9263306856155396,
                        "yaw": -80.99177551269531
                    }
                },
                "velocity": {
                    "x": 1.254316806793213,
                    "y": -7.947843074798584,
                    "z": -0.13056424260139465
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2920093536376953,
                "transform": {
                    "location": {
                        "x": 978.3983154296875,
                        "y": 3272.114501953125,
                        "z": 368.2311706542969
                    },
                    "rotation": {
                        "roll": 0.0006492637912742794,
                        "pitch": 1.1422466039657593,
                        "yaw": 93.13833618164062
                    }
                },
                "velocity": {
                    "x": -0.13368912041187286,
                    "y": 2.2875068187713623,
                    "z": 0.05240552872419357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.224761009216309,
                "transform": {
                    "location": {
                        "x": 972.9285888671875,
                        "y": 3322.99169921875,
                        "z": 369.22393798828125
                    },
                    "rotation": {
                        "roll": -0.0399169959127903,
                        "pitch": 0.340437114238739,
                        "yaw": 98.92648315429688
                    }
                },
                "velocity": {
                    "x": -1.1278890371322632,
                    "y": 7.1352458000183105,
                    "z": 0.11534907668828964
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.759249210357666,
                "transform": {
                    "location": {
                        "x": 969.5848999023438,
                        "y": 3343.87109375,
                        "z": 369.5481872558594
                    },
                    "rotation": {
                        "roll": 0.0005762241780757904,
                        "pitch": 0.8295059204101562,
                        "yaw": 99.12720489501953
                    }
                },
                "velocity": {
                    "x": -1.2317423820495605,
                    "y": 7.660050392150879,
                    "z": 0.11128940433263779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0350341796875,
                "transform": {
                    "location": {
                        "x": 966.9269409179688,
                        "y": 3360.391845703125,
                        "z": 369.7701721191406
                    },
                    "rotation": {
                        "roll": 0.0002906249137595296,
                        "pitch": 0.7009276151657104,
                        "yaw": 99.15666198730469
                    }
                },
                "velocity": {
                    "x": -1.276710867881775,
                    "y": 7.932373523712158,
                    "z": 0.09603749960660934
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.7666319608688354,
                "transform": {
                    "location": {
                        "x": 955.6083984375,
                        "y": 3405.26806640625,
                        "z": 370.22943115234375
                    },
                    "rotation": {
                        "roll": 0.0015726927667856216,
                        "pitch": -0.022095661610364914,
                        "yaw": 99.13337707519531
                    }
                },
                "velocity": {
                    "x": -0.280497670173645,
                    "y": 1.7441697120666504,
                    "z": 0.013476991094648838
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.0897886753082275,
                "transform": {
                    "location": {
                        "x": 957.0140380859375,
                        "y": 3396.5380859375,
                        "z": 370.1599426269531
                    },
                    "rotation": {
                        "roll": -0.0007324244361370802,
                        "pitch": 0.6475701928138733,
                        "yaw": 99.1428451538086
                    }
                },
                "velocity": {
                    "x": -0.33179572224617004,
                    "y": 2.0631983280181885,
                    "z": 0.018479375168681145
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24489402770996094,
        "expert_target_speed": 8.60990269601817,
        "target_point": [
            13.019136987942442,
            0.1836438841681094
        ],
        "target_point_next": [
            64.01571803668126,
            -0.40262866904495453
        ]
    },
    "130": {
        "acceleration": [
            0.45749425888061523,
            -2.985563278198242,
            -0.05472362041473389
        ],
        "angular_velocity": [
            0.09481777250766754,
            -0.07249521464109421,
            0.5372413992881775
        ],
        "forward_vector": [
            -0.17270249128341675,
            0.9849244356155396,
            0.00988193042576313
        ],
        "right_vector": [
            -0.9849718809127808,
            -0.1727144718170166,
            0.00036643253406509757
        ],
        "location": [
            968.728515625,
            3331.306396484375,
            369.3634033203125
        ],
        "rotation": [
            -0.020996063947677612,
            0.5662021636962891,
            99.94547271728516
        ],
        "velocity": [
            -1.2663943767547607,
            7.167884349822998,
            0.11208517104387283
        ],
        "speed": 7.278895573499701,
        "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": 66.84964752197266,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.9235229492188,
                3397.1005859375,
                370.1647033691406
            ],
            "velocity": [
                -0.37861689925193787,
                2.35438871383667,
                0.018738584592938423
            ],
            "speed_kmh": 8.584960772422885,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.27685546875,
                        "y": 3404.155517578125,
                        "z": 370.26611328125
                    },
                    "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": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.77099609375,
                        "y": 3402.897705078125,
                        "z": 370.2332763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4876413345336914,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.360324382781982,
                "transform": {
                    "location": {
                        "x": 976.3265991210938,
                        "y": 3283.40283203125,
                        "z": 368.5183410644531
                    },
                    "rotation": {
                        "roll": -0.4168701171875,
                        "pitch": 1.062073826789856,
                        "yaw": 77.24311065673828
                    }
                },
                "velocity": {
                    "x": 1.0847175121307373,
                    "y": 7.277650356292725,
                    "z": 0.18321344256401062
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.016818046569824,
                "transform": {
                    "location": {
                        "x": 973.2530517578125,
                        "y": 3363.2255859375,
                        "z": 369.7900390625
                    },
                    "rotation": {
                        "roll": 0.00014357987674884498,
                        "pitch": -0.7562863230705261,
                        "yaw": -80.79705047607422
                    }
                },
                "velocity": {
                    "x": 0.9614206552505493,
                    "y": -5.939069747924805,
                    "z": -0.07227299362421036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.90277624130249,
                "transform": {
                    "location": {
                        "x": 969.9837036132812,
                        "y": 3363.07470703125,
                        "z": 369.7990417480469
                    },
                    "rotation": {
                        "roll": -0.0016479464247822762,
                        "pitch": -0.6620228886604309,
                        "yaw": -80.7868423461914
                    }
                },
                "velocity": {
                    "x": 1.263487458229065,
                    "y": -7.800527572631836,
                    "z": -0.0961090475320816
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.581640243530273,
                "transform": {
                    "location": {
                        "x": 975.9769287109375,
                        "y": 3300.903076171875,
                        "z": 368.84112548828125
                    },
                    "rotation": {
                        "roll": -0.11367791146039963,
                        "pitch": 0.9161468744277954,
                        "yaw": 96.2780990600586
                    }
                },
                "velocity": {
                    "x": -1.15927255153656,
                    "y": 10.5160493850708,
                    "z": 0.19976861774921417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04699993133545,
                "transform": {
                    "location": {
                        "x": 979.7517700195312,
                        "y": 3322.7998046875,
                        "z": 369.2062683105469
                    },
                    "rotation": {
                        "roll": 0.00691603310406208,
                        "pitch": -0.9210168123245239,
                        "yaw": -81.05967712402344
                    }
                },
                "velocity": {
                    "x": 1.248611569404602,
                    "y": -7.948522090911865,
                    "z": -0.12714648246765137
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048919677734375,
                "transform": {
                    "location": {
                        "x": 976.5435791015625,
                        "y": 3322.2802734375,
                        "z": 369.2062072753906
                    },
                    "rotation": {
                        "roll": 0.008619913831353188,
                        "pitch": -0.9245275259017944,
                        "yaw": -81.06049346923828
                    }
                },
                "velocity": {
                    "x": 1.2486518621444702,
                    "y": -7.950422286987305,
                    "z": -0.12950493395328522
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0031517588067799807,
                "transform": {
                    "location": {
                        "x": 978.3899536132812,
                        "y": 3272.25830078125,
                        "z": 368.23431396484375
                    },
                    "rotation": {
                        "roll": 0.007115565240383148,
                        "pitch": 1.0181626081466675,
                        "yaw": 93.20301055908203
                    }
                },
                "velocity": {
                    "x": 0.00043410889338701963,
                    "y": -0.0031094823498278856,
                    "z": 0.00027613595011644065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.98393440246582,
                "transform": {
                    "location": {
                        "x": 972.6559448242188,
                        "y": 3324.715576171875,
                        "z": 369.2508850097656
                    },
                    "rotation": {
                        "roll": -0.022827135398983955,
                        "pitch": 0.601985514163971,
                        "yaw": 98.99119567871094
                    }
                },
                "velocity": {
                    "x": -1.0943758487701416,
                    "y": 6.8967485427856445,
                    "z": 0.11196878552436829
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.761084079742432,
                "transform": {
                    "location": {
                        "x": 969.276611328125,
                        "y": 3345.787353515625,
                        "z": 369.5760192871094
                    },
                    "rotation": {
                        "roll": -0.0004272781079635024,
                        "pitch": 0.8263093829154968,
                        "yaw": 99.15496826171875
                    }
                },
                "velocity": {
                    "x": -1.2333823442459106,
                    "y": 7.661668300628662,
                    "z": 0.10968662053346634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03097915649414,
                "transform": {
                    "location": {
                        "x": 966.6077270507812,
                        "y": 3362.374267578125,
                        "z": 369.79443359375
                    },
                    "rotation": {
                        "roll": 0.0004065867105964571,
                        "pitch": 0.7007910013198853,
                        "yaw": 99.13460540771484
                    }
                },
                "velocity": {
                    "x": -1.275856375694275,
                    "y": 7.928404808044434,
                    "z": 0.09598756581544876
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.9778492450714111,
                "transform": {
                    "location": {
                        "x": 955.5338745117188,
                        "y": 3405.7314453125,
                        "z": 370.2330322265625
                    },
                    "rotation": {
                        "roll": -0.00030517656705342233,
                        "pitch": -0.02078426443040371,
                        "yaw": 99.13456726074219
                    }
                },
                "velocity": {
                    "x": -0.31391701102256775,
                    "y": 1.9527279138565063,
                    "z": 0.014042949303984642
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.384711265563965,
                "transform": {
                    "location": {
                        "x": 956.9235229492188,
                        "y": 3397.1005859375,
                        "z": 370.1647033691406
                    },
                    "rotation": {
                        "roll": -0.0008239602902904153,
                        "pitch": 0.5792136788368225,
                        "yaw": 99.14269256591797
                    }
                },
                "velocity": {
                    "x": -0.37861689925193787,
                    "y": 2.35438871383667,
                    "z": 0.018738584592938423
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23303218185901642,
        "expert_target_speed": 8.057521159376666,
        "target_point": [
            11.117297753051927,
            0.15147328495025447
        ],
        "target_point_next": [
            62.11224111598588,
            -0.563191376549705
        ]
    },
    "135": {
        "acceleration": [
            0.2905130386352539,
            -2.0217132568359375,
            -0.03696665167808533
        ],
        "angular_velocity": [
            0.21123109757900238,
            0.031449511647224426,
            0.5054641962051392
        ],
        "forward_vector": [
            -0.1749422550201416,
            0.98452228307724,
            0.010535999201238155
        ],
        "right_vector": [
            -0.9845765233039856,
            -0.17495428025722504,
            0.000222095288336277
        ],
        "location": [
            968.4239501953125,
            3333.0205078125,
            369.3900451660156
        ],
        "rotation": [
            -0.012725829146802425,
            0.6036794185638428,
            100.07586669921875
        ],
        "velocity": [
            -1.1766934394836426,
            6.567790508270264,
            0.10340612381696701
        ],
        "speed": 6.672366867240501,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.72885131835938,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.8248901367188,
                3397.713134765625,
                370.1700744628906
            ],
            "velocity": [
                -0.40757685899734497,
                2.5317792892456055,
                0.021364344283938408
            ],
            "speed_kmh": 9.232074676930507,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.044292449951172,
                "transform": {
                    "location": {
                        "x": 963.6016845703125,
                        "y": 3402.135498046875,
                        "z": 370.2264099121094
                    },
                    "rotation": {
                        "roll": 0.0012186234816908836,
                        "pitch": -0.510836660861969,
                        "yaw": -80.8589859008789
                    }
                },
                "velocity": {
                    "x": 1.1181721687316895,
                    "y": -6.95261812210083,
                    "z": -0.18124450743198395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.589404582977295,
                "transform": {
                    "location": {
                        "x": 967.0831909179688,
                        "y": 3400.963134765625,
                        "z": 370.1965026855469
                    },
                    "rotation": {
                        "roll": -0.0017089799512177706,
                        "pitch": -0.5260952711105347,
                        "yaw": -80.82456970214844
                    }
                },
                "velocity": {
                    "x": 1.0776431560516357,
                    "y": -6.499739170074463,
                    "z": -0.11103013902902603
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.408636569976807,
                "transform": {
                    "location": {
                        "x": 976.5441284179688,
                        "y": 3285.045654296875,
                        "z": 368.556396484375
                    },
                    "rotation": {
                        "roll": -0.365203857421875,
                        "pitch": 1.088725209236145,
                        "yaw": 82.10515594482422
                    }
                },
                "velocity": {
                    "x": 0.5494592189788818,
                    "y": 6.383525371551514,
                    "z": 0.13899356126785278
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06673526763916,
                "transform": {
                    "location": {
                        "x": 973.5360107421875,
                        "y": 3361.476806640625,
                        "z": 369.7689514160156
                    },
                    "rotation": {
                        "roll": 0.0004473390581551939,
                        "pitch": -0.469698429107666,
                        "yaw": -80.79204559326172
                    }
                },
                "velocity": {
                    "x": 1.288941740989685,
                    "y": -7.962485313415527,
                    "z": -0.0983506441116333
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009112358093262,
                "transform": {
                    "location": {
                        "x": 970.2993774414062,
                        "y": 3361.126220703125,
                        "z": 369.7752685546875
                    },
                    "rotation": {
                        "roll": -0.0018615743611007929,
                        "pitch": -0.688599169254303,
                        "yaw": -80.79814147949219
                    }
                },
                "velocity": {
                    "x": 1.2805222272872925,
                    "y": -7.90549898147583,
                    "z": -0.09602192789316177
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.113972663879395,
                "transform": {
                    "location": {
                        "x": 975.6853637695312,
                        "y": 3303.415771484375,
                        "z": 368.8885498046875
                    },
                    "rotation": {
                        "roll": -0.08377078175544739,
                        "pitch": 0.9628927111625671,
                        "yaw": 96.7770004272461
                    }
                },
                "velocity": {
                    "x": -1.2091089487075806,
                    "y": 10.03969669342041,
                    "z": 0.18704162538051605
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048181533813477,
                "transform": {
                    "location": {
                        "x": 980.0595703125,
                        "y": 3320.811767578125,
                        "z": 369.1741638183594
                    },
                    "rotation": {
                        "roll": 0.027398772537708282,
                        "pitch": -0.9224852919578552,
                        "yaw": -81.23808288574219
                    }
                },
                "velocity": {
                    "x": 1.209488034248352,
                    "y": -7.95576810836792,
                    "z": -0.12695954740047455
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048246383666992,
                "transform": {
                    "location": {
                        "x": 976.851318359375,
                        "y": 3320.2919921875,
                        "z": 369.1739501953125
                    },
                    "rotation": {
                        "roll": 0.025617916136980057,
                        "pitch": -0.9261462688446045,
                        "yaw": -81.23883819580078
                    }
                },
                "velocity": {
                    "x": 1.2094106674194336,
                    "y": -7.955785751342773,
                    "z": -0.13067495822906494
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7696606516838074,
                "transform": {
                    "location": {
                        "x": 978.3840942382812,
                        "y": 3272.360595703125,
                        "z": 368.2370910644531
                    },
                    "rotation": {
                        "roll": 0.0038336769212037325,
                        "pitch": 1.3305822610855103,
                        "yaw": 93.19216918945312
                    }
                },
                "velocity": {
                    "x": -0.04418746009469032,
                    "y": 0.7681784629821777,
                    "z": 0.018077343702316284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.942954063415527,
                "transform": {
                    "location": {
                        "x": 972.3643798828125,
                        "y": 3326.551513671875,
                        "z": 369.27886962890625
                    },
                    "rotation": {
                        "roll": -0.014953617937862873,
                        "pitch": 1.0687811374664307,
                        "yaw": 99.0246353149414
                    }
                },
                "velocity": {
                    "x": -1.2504403591156006,
                    "y": 7.842889308929443,
                    "z": 0.12652131915092468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.748205184936523,
                "transform": {
                    "location": {
                        "x": 968.9689331054688,
                        "y": 3347.7001953125,
                        "z": 369.60272216796875
                    },
                    "rotation": {
                        "roll": 0.00037446743226610124,
                        "pitch": 0.775779664516449,
                        "yaw": 99.12561798095703
                    }
                },
                "velocity": {
                    "x": -1.2301734685897827,
                    "y": 7.649178981781006,
                    "z": 0.10684341192245483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034626960754395,
                "transform": {
                    "location": {
                        "x": 966.28857421875,
                        "y": 3364.356689453125,
                        "z": 369.81866455078125
                    },
                    "rotation": {
                        "roll": -0.00045779012725688517,
                        "pitch": 0.6990015506744385,
                        "yaw": 99.15758514404297
                    }
                },
                "velocity": {
                    "x": -1.2767524719238281,
                    "y": 7.931961536407471,
                    "z": 0.09546861797571182
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.188009738922119,
                "transform": {
                    "location": {
                        "x": 955.4510498046875,
                        "y": 3406.24658203125,
                        "z": 370.23681640625
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.02096867933869362,
                        "yaw": 99.135498046875
                    }
                },
                "velocity": {
                    "x": -0.3472568690776825,
                    "y": 2.160221576690674,
                    "z": 0.015554685145616531
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.564465284347534,
                "transform": {
                    "location": {
                        "x": 956.8248901367188,
                        "y": 3397.713134765625,
                        "z": 370.1700744628906
                    },
                    "rotation": {
                        "roll": 0.0007008271641097963,
                        "pitch": 0.6054211258888245,
                        "yaw": 99.1429443359375
                    }
                },
                "velocity": {
                    "x": -0.40757685899734497,
                    "y": 2.5317792892456055,
                    "z": 0.021364344283938408
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22966799139976501,
        "expert_target_speed": 7.558977769819589,
        "target_point": [
            9.376654815844788,
            0.12619214576708515
        ],
        "target_point_next": [
            60.36983976686157,
            -0.7045200297995446
        ]
    },
    "140": {
        "acceleration": [
            0.44676780700683594,
            -2.621173858642578,
            -0.025446265935897827
        ],
        "angular_velocity": [
            -0.0002483680727891624,
            -0.04197137802839279,
            0.41864585876464844
        ],
        "forward_vector": [
            -0.1769755333662033,
            0.9841545820236206,
            0.01092876959592104
        ],
        "right_vector": [
            -0.9842131733894348,
            -0.17698700726032257,
            8.415151387453079e-05
        ],
        "location": [
            968.1428833007812,
            3334.582763671875,
            369.4144592285156
        ],
        "rotation": [
            -0.004821814596652985,
            0.62618488073349,
            100.19425964355469
        ],
        "velocity": [
            -1.0812021493911743,
            5.966606140136719,
            0.0942617803812027
        ],
        "speed": 6.063776621822846,
        "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": 64.75971984863281,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.7266235351562,
                3398.32373046875,
                370.17584228515625
            ],
            "velocity": [
                -0.3491206169128418,
                2.168290853500366,
                0.01832086592912674
            ],
            "speed_kmh": 7.906657375726689,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.735593795776367,
                "transform": {
                    "location": {
                        "x": 963.8820190429688,
                        "y": 3400.448974609375,
                        "z": 370.19195556640625
                    },
                    "rotation": {
                        "roll": -0.009124725125730038,
                        "pitch": -0.5138829350471497,
                        "yaw": -80.52427673339844
                    }
                },
                "velocity": {
                    "x": 1.148970365524292,
                    "y": -6.636258602142334,
                    "z": -0.09033427387475967
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.824160575866699,
                "transform": {
                    "location": {
                        "x": 967.3588256835938,
                        "y": 3399.3076171875,
                        "z": 370.1769104003906
                    },
                    "rotation": {
                        "roll": -0.006103486754000187,
                        "pitch": -0.5000039935112,
                        "yaw": -80.53028106689453
                    }
                },
                "velocity": {
                    "x": 1.144277811050415,
                    "y": -6.727261066436768,
                    "z": -0.061263568699359894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.95155143737793,
                "transform": {
                    "location": {
                        "x": 976.6928100585938,
                        "y": 3286.666748046875,
                        "z": 368.58978271484375
                    },
                    "rotation": {
                        "roll": -0.268463134765625,
                        "pitch": 1.1948322057724,
                        "yaw": 84.7109375
                    }
                },
                "velocity": {
                    "x": 0.4932924211025238,
                    "y": 6.932500839233398,
                    "z": 0.14548125863075256
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.219655990600586,
                "transform": {
                    "location": {
                        "x": 973.865234375,
                        "y": 3359.4375,
                        "z": 369.74371337890625
                    },
                    "rotation": {
                        "roll": 0.0028476612642407417,
                        "pitch": -0.6189517378807068,
                        "yaw": -80.84487915039062
                    }
                },
                "velocity": {
                    "x": 1.3086901903152466,
                    "y": -8.114192008972168,
                    "z": -0.09984324872493744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.086085319519043,
                "transform": {
                    "location": {
                        "x": 970.6217651367188,
                        "y": 3359.131103515625,
                        "z": 369.7510070800781
                    },
                    "rotation": {
                        "roll": -0.0018616070738062263,
                        "pitch": -0.7040694952011108,
                        "yaw": -80.81986236572266
                    }
                },
                "velocity": {
                    "x": 1.287404179573059,
                    "y": -7.982326984405518,
                    "z": -0.09909354150295258
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.627880096435547,
                "transform": {
                    "location": {
                        "x": 975.3715209960938,
                        "y": 3305.97802734375,
                        "z": 368.9359436035156
                    },
                    "rotation": {
                        "roll": -0.04409785568714142,
                        "pitch": 1.1072691679000854,
                        "yaw": 97.0489501953125
                    }
                },
                "velocity": {
                    "x": -1.3075246810913086,
                    "y": 10.545380592346191,
                    "z": 0.19278696179389954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049622535705566,
                "transform": {
                    "location": {
                        "x": 980.3594360351562,
                        "y": 3318.822509765625,
                        "z": 369.14202880859375
                    },
                    "rotation": {
                        "roll": 0.01731819100677967,
                        "pitch": -0.9287759065628052,
                        "yaw": -81.43871307373047
                    }
                },
                "velocity": {
                    "x": 1.192165732383728,
                    "y": -7.959797382354736,
                    "z": -0.12958726286888123
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049471855163574,
                "transform": {
                    "location": {
                        "x": 977.151123046875,
                        "y": 3318.302734375,
                        "z": 369.1414489746094
                    },
                    "rotation": {
                        "roll": 0.0174032561480999,
                        "pitch": -0.9387821555137634,
                        "yaw": -81.4382553100586
                    }
                },
                "velocity": {
                    "x": 1.1920578479766846,
                    "y": -7.959630489349365,
                    "z": -0.13146419823169708
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5968772172927856,
                "transform": {
                    "location": {
                        "x": 978.3659057617188,
                        "y": 3272.66650390625,
                        "z": 368.2441711425781
                    },
                    "rotation": {
                        "roll": 0.0014542632270604372,
                        "pitch": 1.4205563068389893,
                        "yaw": 93.23542022705078
                    }
                },
                "velocity": {
                    "x": -0.09438905864953995,
                    "y": 1.5936791896820068,
                    "z": 0.03597724065184593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.028460502624512,
                "transform": {
                    "location": {
                        "x": 972.0361328125,
                        "y": 3328.607421875,
                        "z": 369.31109619140625
                    },
                    "rotation": {
                        "roll": -0.010070729069411755,
                        "pitch": 1.2758997678756714,
                        "yaw": 99.07987213134766
                    }
                },
                "velocity": {
                    "x": -1.4258043766021729,
                    "y": 8.914040565490723,
                    "z": 0.14163057506084442
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.762495517730713,
                "transform": {
                    "location": {
                        "x": 968.660888671875,
                        "y": 3349.6142578125,
                        "z": 369.6287841796875
                    },
                    "rotation": {
                        "roll": -0.001861577620729804,
                        "pitch": 0.761866569519043,
                        "yaw": 99.16039276123047
                    }
                },
                "velocity": {
                    "x": -1.2342901229858398,
                    "y": 7.663043022155762,
                    "z": 0.10312242060899734
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033223152160645,
                "transform": {
                    "location": {
                        "x": 965.9693603515625,
                        "y": 3366.339599609375,
                        "z": 369.8424377441406
                    },
                    "rotation": {
                        "roll": 8.714434079593047e-05,
                        "pitch": 0.6763253211975098,
                        "yaw": 99.13277435302734
                    }
                },
                "velocity": {
                    "x": -1.2767150402069092,
                    "y": 7.930544376373291,
                    "z": 0.09559939801692963
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.336487054824829,
                "transform": {
                    "location": {
                        "x": 955.3602294921875,
                        "y": 3406.8115234375,
                        "z": 370.2410888671875
                    },
                    "rotation": {
                        "roll": 0.0017686804058030248,
                        "pitch": 0.004214226268231869,
                        "yaw": 99.13594055175781
                    }
                },
                "velocity": {
                    "x": -0.37104418873786926,
                    "y": 2.3067665100097656,
                    "z": 0.018055658787488937
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.196293830871582,
                "transform": {
                    "location": {
                        "x": 956.7266235351562,
                        "y": 3398.32373046875,
                        "z": 370.17584228515625
                    },
                    "rotation": {
                        "roll": 0.0013883654028177261,
                        "pitch": 0.9299643635749817,
                        "yaw": 99.14264678955078
                    }
                },
                "velocity": {
                    "x": -0.3491206169128418,
                    "y": 2.168290853500366,
                    "z": 0.01832086592912674
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2014731615781784,
        "expert_target_speed": 7.0378347523238265,
        "target_point": [
            7.789557549057313,
            0.10668388598352685
        ],
        "target_point_next": [
            58.78091707151844,
            -0.8293974237070909
        ]
    },
    "145": {
        "acceleration": [
            0.2468407154083252,
            -1.0448837280273438,
            -0.03170281648635864
        ],
        "angular_velocity": [
            0.2926557958126068,
            0.0025299047119915485,
            -0.35798853635787964
        ],
        "forward_vector": [
            -0.17660123109817505,
            0.9842134714126587,
            0.011655781418085098
        ],
        "right_vector": [
            -0.984281063079834,
            -0.17660896480083466,
            -0.00037063236231915653
        ],
        "location": [
            967.8854370117188,
            3336.0166015625,
            369.4367980957031
        ],
        "rotation": [
            0.02123711258172989,
            0.6678422093391418,
            100.17255401611328
        ],
        "velocity": [
            -0.9877683520317078,
            5.542638301849365,
            0.0865146592259407
        ],
        "speed": 5.629966754999806,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.89866256713867,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.6319580078125,
                3398.912109375,
                370.1805114746094
            ],
            "velocity": [
                -0.3970528244972229,
                2.4679105281829834,
                0.021069172769784927
            ],
            "speed_kmh": 8.999047555633927,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.962032794952393,
                "transform": {
                    "location": {
                        "x": 964.1685791015625,
                        "y": 3398.759521484375,
                        "z": 370.1745910644531
                    },
                    "rotation": {
                        "roll": -0.005126939155161381,
                        "pitch": -0.49179407954216003,
                        "yaw": -80.2582778930664
                    }
                },
                "velocity": {
                    "x": 1.173003077507019,
                    "y": -6.862246513366699,
                    "z": -0.059480421245098114
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.599039077758789,
                "transform": {
                    "location": {
                        "x": 967.6399536132812,
                        "y": 3397.654541015625,
                        "z": 370.16265869140625
                    },
                    "rotation": {
                        "roll": -0.00625609653070569,
                        "pitch": -0.491609662771225,
                        "yaw": -80.31590270996094
                    }
                },
                "velocity": {
                    "x": 1.118613839149475,
                    "y": -6.503305435180664,
                    "z": -0.055124834179878235
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.916641235351562,
                "transform": {
                    "location": {
                        "x": 976.7440185546875,
                        "y": 3288.681884765625,
                        "z": 368.6304931640625
                    },
                    "rotation": {
                        "roll": -0.30364990234375,
                        "pitch": 1.3521314859390259,
                        "yaw": 88.7527084350586
                    }
                },
                "velocity": {
                    "x": -0.15104368329048157,
                    "y": 8.91347885131836,
                    "z": 0.18324705958366394
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.908623695373535,
                "transform": {
                    "location": {
                        "x": 974.1840209960938,
                        "y": 3357.4609375,
                        "z": 369.71875
                    },
                    "rotation": {
                        "roll": 0.0008633441757410765,
                        "pitch": -0.7418472766876221,
                        "yaw": -80.8250503540039
                    }
                },
                "velocity": {
                    "x": 1.2584786415100098,
                    "y": -7.80720853805542,
                    "z": -0.10028200596570969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040937423706055,
                "transform": {
                    "location": {
                        "x": 970.9428100585938,
                        "y": 3357.142333984375,
                        "z": 369.7260437011719
                    },
                    "rotation": {
                        "roll": -0.0004882881767116487,
                        "pitch": -0.6995479464530945,
                        "yaw": -80.82886505126953
                    }
                },
                "velocity": {
                    "x": 1.279806137084961,
                    "y": -7.937744617462158,
                    "z": -0.10476667433977127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.051941871643066,
                "transform": {
                    "location": {
                        "x": 975.0394287109375,
                        "y": 3308.56640625,
                        "z": 368.9828186035156
                    },
                    "rotation": {
                        "roll": -0.05273440107703209,
                        "pitch": 0.950516402721405,
                        "yaw": 97.43981170654297
                    }
                },
                "velocity": {
                    "x": -1.313086986541748,
                    "y": 9.964215278625488,
                    "z": 0.1781647950410843
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046903610229492,
                "transform": {
                    "location": {
                        "x": 980.6563720703125,
                        "y": 3316.832763671875,
                        "z": 369.1092529296875
                    },
                    "rotation": {
                        "roll": 0.006676994729787111,
                        "pitch": -0.9471423029899597,
                        "yaw": -81.51670837402344
                    }
                },
                "velocity": {
                    "x": 1.1840919256210327,
                    "y": -7.958235740661621,
                    "z": -0.13063405454158783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04727840423584,
                "transform": {
                    "location": {
                        "x": 977.4481201171875,
                        "y": 3316.31298828125,
                        "z": 369.1085205078125
                    },
                    "rotation": {
                        "roll": 0.005634569562971592,
                        "pitch": -0.9559873938560486,
                        "yaw": -81.51618957519531
                    }
                },
                "velocity": {
                    "x": 1.1846474409103394,
                    "y": -7.958521366119385,
                    "z": -0.13126973807811737
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.543259859085083,
                "transform": {
                    "location": {
                        "x": 978.3346557617188,
                        "y": 3273.190673828125,
                        "z": 368.2561950683594
                    },
                    "rotation": {
                        "roll": 0.00250770291313529,
                        "pitch": 1.456626534461975,
                        "yaw": 93.2994384765625
                    }
                },
                "velocity": {
                    "x": -0.15154337882995605,
                    "y": 2.538078546524048,
                    "z": 0.057994239032268524
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.185646057128906,
                "transform": {
                    "location": {
                        "x": 971.6526489257812,
                        "y": 3331.005859375,
                        "z": 369.3485107421875
                    },
                    "rotation": {
                        "roll": -0.005035375710576773,
                        "pitch": 1.4108779430389404,
                        "yaw": 99.09801483154297
                    }
                },
                "velocity": {
                    "x": -1.6086753606796265,
                    "y": 10.056580543518066,
                    "z": 0.15730614960193634
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.755199432373047,
                "transform": {
                    "location": {
                        "x": 968.3527221679688,
                        "y": 3351.529541015625,
                        "z": 369.6543273925781
                    },
                    "rotation": {
                        "roll": -0.00018315069610252976,
                        "pitch": 0.7633897066116333,
                        "yaw": 99.12803649902344
                    }
                },
                "velocity": {
                    "x": -1.2316583395004272,
                    "y": 7.656071186065674,
                    "z": 0.10350366681814194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03334903717041,
                "transform": {
                    "location": {
                        "x": 965.6502685546875,
                        "y": 3368.322021484375,
                        "z": 369.865966796875
                    },
                    "rotation": {
                        "roll": 0.0010650480398908257,
                        "pitch": 0.6672889590263367,
                        "yaw": 99.15451049804688
                    }
                },
                "velocity": {
                    "x": -1.276232123374939,
                    "y": 7.930793285369873,
                    "z": 0.09191015362739563
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.2867724895477295,
                "transform": {
                    "location": {
                        "x": 955.268310546875,
                        "y": 3407.382080078125,
                        "z": 370.2454528808594
                    },
                    "rotation": {
                        "roll": 0.0024260764475911856,
                        "pitch": 0.12085335701704025,
                        "yaw": 99.13777160644531
                    }
                },
                "velocity": {
                    "x": -0.3636392056941986,
                    "y": 2.2576112747192383,
                    "z": 0.016918228939175606
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.4997353553771973,
                "transform": {
                    "location": {
                        "x": 956.6319580078125,
                        "y": 3398.912109375,
                        "z": 370.1805114746094
                    },
                    "rotation": {
                        "roll": 0.0005939964321441948,
                        "pitch": 0.6375502943992615,
                        "yaw": 99.14221954345703
                    }
                },
                "velocity": {
                    "x": -0.3970528244972229,
                    "y": 2.4679105281829834,
                    "z": 0.021069172769784927
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1734374463558197,
        "expert_target_speed": 6.6549637950897385,
        "target_point": [
            57.324460408494325,
            -0.8072794092484941
        ],
        "target_point_next": [
            108.31616034236124,
            -1.7240906407497931
        ]
    },
    "150": {
        "acceleration": [
            0.18827080726623535,
            -0.8964824676513672,
            -0.0030280649662017822
        ],
        "angular_velocity": [
            0.14501017332077026,
            0.04071583226323128,
            -0.3568155765533447
        ],
        "forward_vector": [
            -0.17501340806484222,
            0.9844872951507568,
            0.012450968846678734
        ],
        "right_vector": [
            -0.984564483165741,
            -0.17502158880233765,
            -0.0004389509267639369
        ],
        "location": [
            967.646240234375,
            3337.3642578125,
            369.45697021484375
        ],
        "rotation": [
            0.025151986628770828,
            0.7134063839912415,
            100.08023071289062
        ],
        "velocity": [
            -0.9338818192481995,
            5.293160915374756,
            0.07955656200647354
        ],
        "speed": 5.374912811234546,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.13209915161133,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.5363159179688,
                3399.5068359375,
                370.1862487792969
            ],
            "velocity": [
                -0.30108922719955444,
                1.871262788772583,
                0.016160735860466957
            ],
            "speed_kmh": 6.823439199206146,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.751231670379639,
                "transform": {
                    "location": {
                        "x": 964.456787109375,
                        "y": 3397.07080078125,
                        "z": 370.16015625
                    },
                    "rotation": {
                        "roll": -0.005798323079943657,
                        "pitch": -0.4911520481109619,
                        "yaw": -80.22308349609375
                    }
                },
                "velocity": {
                    "x": 1.1371543407440186,
                    "y": -6.654535293579102,
                    "z": -0.056264717131853104
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.911181926727295,
                "transform": {
                    "location": {
                        "x": 967.9252319335938,
                        "y": 3395.99658203125,
                        "z": 370.1476135253906
                    },
                    "rotation": {
                        "roll": -0.006896962411701679,
                        "pitch": -0.5220040082931519,
                        "yaw": -80.2195816040039
                    }
                },
                "velocity": {
                    "x": 1.1774804592132568,
                    "y": -6.809823036193848,
                    "z": -0.06548084318637848
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.86391544342041,
                "transform": {
                    "location": {
                        "x": 976.7051391601562,
                        "y": 3291.077392578125,
                        "z": 368.6800842285156
                    },
                    "rotation": {
                        "roll": -0.1689453274011612,
                        "pitch": 1.2952154874801636,
                        "yaw": 91.28120422363281
                    }
                },
                "velocity": {
                    "x": -0.3124128580093384,
                    "y": 9.856937408447266,
                    "z": 0.2000013142824173
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.116828918457031,
                "transform": {
                    "location": {
                        "x": 974.5026245117188,
                        "y": 3355.484375,
                        "z": 369.69329833984375
                    },
                    "rotation": {
                        "roll": 0.0008586224867030978,
                        "pitch": -0.7479193210601807,
                        "yaw": -80.85846710205078
                    }
                },
                "velocity": {
                    "x": 1.2908062934875488,
                    "y": -8.012837409973145,
                    "z": -0.10561982542276382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007295608520508,
                "transform": {
                    "location": {
                        "x": 971.2619018554688,
                        "y": 3355.16455078125,
                        "z": 369.70037841796875
                    },
                    "rotation": {
                        "roll": 2.6175759558100253e-05,
                        "pitch": -0.7532331943511963,
                        "yaw": -80.83433532714844
                    }
                },
                "velocity": {
                    "x": 1.2752304077148438,
                    "y": -7.904425621032715,
                    "z": -0.1030382290482521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.324129104614258,
                "transform": {
                    "location": {
                        "x": 974.7172241210938,
                        "y": 3310.974365234375,
                        "z": 369.025390625
                    },
                    "rotation": {
                        "roll": -0.0321044959127903,
                        "pitch": 0.853882908821106,
                        "yaw": 97.68418884277344
                    }
                },
                "velocity": {
                    "x": -1.2498207092285156,
                    "y": 9.238581657409668,
                    "z": 0.16104188561439514
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.051029205322266,
                "transform": {
                    "location": {
                        "x": 980.9423828125,
                        "y": 3314.841552734375,
                        "z": 369.0760498046875
                    },
                    "rotation": {
                        "roll": 0.025558779016137123,
                        "pitch": -0.965447187423706,
                        "yaw": -81.84593963623047
                    }
                },
                "velocity": {
                    "x": 1.127583384513855,
                    "y": -7.970539569854736,
                    "z": -0.1346024125814438
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05079174041748,
                "transform": {
                    "location": {
                        "x": 977.734130859375,
                        "y": 3314.32177734375,
                        "z": 369.0749206542969
                    },
                    "rotation": {
                        "roll": 0.026906711980700493,
                        "pitch": -0.9725642204284668,
                        "yaw": -81.84774017333984
                    }
                },
                "velocity": {
                    "x": 1.1272509098052979,
                    "y": -7.970350742340088,
                    "z": -0.1344444304704666
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.87489914894104,
                "transform": {
                    "location": {
                        "x": 978.2872314453125,
                        "y": 3273.98046875,
                        "z": 368.27435302734375
                    },
                    "rotation": {
                        "roll": 0.002070371527224779,
                        "pitch": 1.5086315870285034,
                        "yaw": 93.36742401123047
                    }
                },
                "velocity": {
                    "x": -0.23245596885681152,
                    "y": 3.8669352531433105,
                    "z": 0.08729356527328491
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.506836891174316,
                "transform": {
                    "location": {
                        "x": 971.2601928710938,
                        "y": 3333.453125,
                        "z": 369.3885192871094
                    },
                    "rotation": {
                        "roll": -0.008026095107197762,
                        "pitch": 0.9497787356376648,
                        "yaw": 99.1026611328125
                    }
                },
                "velocity": {
                    "x": -1.50574791431427,
                    "y": 9.385690689086914,
                    "z": 0.1465912014245987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.753823280334473,
                "transform": {
                    "location": {
                        "x": 968.0447998046875,
                        "y": 3353.442626953125,
                        "z": 369.6800231933594
                    },
                    "rotation": {
                        "roll": -0.0015258826315402985,
                        "pitch": 0.7645713090896606,
                        "yaw": 99.15878295898438
                    }
                },
                "velocity": {
                    "x": -1.231445550918579,
                    "y": 7.654725074768066,
                    "z": 0.10248672217130661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033291816711426,
                "transform": {
                    "location": {
                        "x": 965.3313598632812,
                        "y": 3370.30419921875,
                        "z": 369.88909912109375
                    },
                    "rotation": {
                        "roll": 0.0009323309059254825,
                        "pitch": 0.6689009070396423,
                        "yaw": 99.12617492675781
                    }
                },
                "velocity": {
                    "x": -1.275926113128662,
                    "y": 7.930777549743652,
                    "z": 0.09248979389667511
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.3110196590423584,
                "transform": {
                    "location": {
                        "x": 955.1782836914062,
                        "y": 3407.9423828125,
                        "z": 370.2496643066406
                    },
                    "rotation": {
                        "roll": 0.0023404783569276333,
                        "pitch": 0.11559411883354187,
                        "yaw": 99.13750457763672
                    }
                },
                "velocity": {
                    "x": -0.3667513430118561,
                    "y": 2.28167462348938,
                    "z": 0.016306914389133453
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.8953996896743774,
                "transform": {
                    "location": {
                        "x": 956.5363159179688,
                        "y": 3399.5068359375,
                        "z": 370.1862487792969
                    },
                    "rotation": {
                        "roll": 0.0006353136268444359,
                        "pitch": 1.0468015670776367,
                        "yaw": 99.14289093017578
                    }
                },
                "velocity": {
                    "x": -0.30108922719955444,
                    "y": 1.871262788772583,
                    "z": 0.016160735860466957
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16748662292957306,
        "expert_target_speed": 6.425544896023374,
        "target_point": [
            55.95696731420203,
            -0.7145572127633404
        ],
        "target_point_next": [
            106.95007805569847,
            -1.5492199501675046
        ]
    },
    "155": {
        "acceleration": [
            -0.008658170700073242,
            0.7448291778564453,
            -0.006798207759857178
        ],
        "angular_velocity": [
            0.3493593633174896,
            -0.03006667084991932,
            -0.6470146179199219
        ],
        "forward_vector": [
            -0.1730620414018631,
            0.98481684923172,
            0.013611968606710434
        ],
        "right_vector": [
            -0.9849092364311218,
            -0.17307059466838837,
            -0.000555471982806921
        ],
        "location": [
            967.4141845703125,
            3338.687744140625,
            369.4765930175781
        ],
        "rotation": [
            0.03182914853096008,
            0.77993243932724,
            99.96683502197266
        ],
        "velocity": [
            -0.9214529395103455,
            5.32264518737793,
            0.07971130311489105
        ],
        "speed": 5.401817037853993,
        "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": 62.28452682495117,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.4574584960938,
                3399.996826171875,
                370.1900634765625
            ],
            "velocity": [
                -0.33528533577919006,
                2.0834763050079346,
                0.01768210344016552
            ],
            "speed_kmh": 7.597281582910689,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.249107360839844,
                "transform": {
                    "location": {
                        "x": 964.7294921875,
                        "y": 3395.476806640625,
                        "z": 370.1458435058594
                    },
                    "rotation": {
                        "roll": -0.00506590586155653,
                        "pitch": -0.5422350168228149,
                        "yaw": -80.26140594482422
                    }
                },
                "velocity": {
                    "x": 1.0519897937774658,
                    "y": -6.159629821777344,
                    "z": -0.060181207954883575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.920516014099121,
                "transform": {
                    "location": {
                        "x": 968.2329711914062,
                        "y": 3394.186279296875,
                        "z": 370.1304931640625
                    },
                    "rotation": {
                        "roll": -0.0036621075123548508,
                        "pitch": -0.5456501245498657,
                        "yaw": -80.36692810058594
                    }
                },
                "velocity": {
                    "x": 1.3102519512176514,
                    "y": -7.811016082763672,
                    "z": -0.07645954191684723
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.368073463439941,
                "transform": {
                    "location": {
                        "x": 976.5810546875,
                        "y": 3293.654541015625,
                        "z": 368.73272705078125
                    },
                    "rotation": {
                        "roll": -0.1633910983800888,
                        "pitch": 1.2163746356964111,
                        "yaw": 93.41512298583984
                    }
                },
                "velocity": {
                    "x": -0.7438625693321228,
                    "y": 10.339313507080078,
                    "z": 0.20547336339950562
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06613826751709,
                "transform": {
                    "location": {
                        "x": 974.8253173828125,
                        "y": 3353.481689453125,
                        "z": 369.66632080078125
                    },
                    "rotation": {
                        "roll": 0.000914686475880444,
                        "pitch": -0.7647079229354858,
                        "yaw": -80.82908630371094
                    }
                },
                "velocity": {
                    "x": 1.2831498384475708,
                    "y": -7.962711811065674,
                    "z": -0.10643827170133591
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.082649230957031,
                "transform": {
                    "location": {
                        "x": 971.5822143554688,
                        "y": 3353.177001953125,
                        "z": 369.6738586425781
                    },
                    "rotation": {
                        "roll": 0.0003587499668356031,
                        "pitch": -0.7613269686698914,
                        "yaw": -80.84211730957031
                    }
                },
                "velocity": {
                    "x": 1.284583568572998,
                    "y": -7.979185581207275,
                    "z": -0.10795774310827255
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.75694465637207,
                "transform": {
                    "location": {
                        "x": 974.388671875,
                        "y": 3313.324951171875,
                        "z": 369.0663146972656
                    },
                    "rotation": {
                        "roll": -0.04647822305560112,
                        "pitch": 1.0171995162963867,
                        "yaw": 98.04940032958984
                    }
                },
                "velocity": {
                    "x": -1.3823045492172241,
                    "y": 9.657105445861816,
                    "z": 0.1658526510000229
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04776382446289,
                "transform": {
                    "location": {
                        "x": 981.221923828125,
                        "y": 3312.849365234375,
                        "z": 369.0421142578125
                    },
                    "rotation": {
                        "roll": 0.016539283096790314,
                        "pitch": -0.9834242463111877,
                        "yaw": -82.02345275878906
                    }
                },
                "velocity": {
                    "x": 1.1110844612121582,
                    "y": -7.969523906707764,
                    "z": -0.13671875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047900199890137,
                "transform": {
                    "location": {
                        "x": 978.0134887695312,
                        "y": 3312.32958984375,
                        "z": 369.0408630371094
                    },
                    "rotation": {
                        "roll": 0.017117561772465706,
                        "pitch": -0.9887654781341553,
                        "yaw": -82.02685546875
                    }
                },
                "velocity": {
                    "x": 1.1106001138687134,
                    "y": -7.969698905944824,
                    "z": -0.1384059339761734
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.040283203125,
                        "y": 3420.646240234375,
                        "z": 370.50042724609375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.245621204376221,
                "transform": {
                    "location": {
                        "x": 978.2179565429688,
                        "y": 3275.12841796875,
                        "z": 368.3006591796875
                    },
                    "rotation": {
                        "roll": -0.0005492776981554925,
                        "pitch": 1.5252357721328735,
                        "yaw": 93.42732238769531
                    }
                },
                "velocity": {
                    "x": -0.31636837124824524,
                    "y": 5.234615325927734,
                    "z": 0.1235097125172615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.86398983001709,
                "transform": {
                    "location": {
                        "x": 970.9244995117188,
                        "y": 3335.544921875,
                        "z": 369.4230041503906
                    },
                    "rotation": {
                        "roll": -0.004028319846838713,
                        "pitch": 0.44674214720726013,
                        "yaw": 99.14114379882812
                    }
                },
                "velocity": {
                    "x": -1.2486335039138794,
                    "y": 7.763279914855957,
                    "z": 0.12137284874916077
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.760346412658691,
                "transform": {
                    "location": {
                        "x": 967.7367553710938,
                        "y": 3355.357421875,
                        "z": 369.7054748535156
                    },
                    "rotation": {
                        "roll": -0.0008239627932198346,
                        "pitch": 0.7536976933479309,
                        "yaw": 99.12957000732422
                    }
                },
                "velocity": {
                    "x": -1.2335386276245117,
                    "y": 7.661046981811523,
                    "z": 0.09856933355331421
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034072875976562,
                "transform": {
                    "location": {
                        "x": 965.012451171875,
                        "y": 3372.287109375,
                        "z": 369.91229248046875
                    },
                    "rotation": {
                        "roll": 3.8635895180050284e-05,
                        "pitch": 0.6696248650550842,
                        "yaw": 99.1492919921875
                    }
                },
                "velocity": {
                    "x": -1.2763829231262207,
                    "y": 7.931498050689697,
                    "z": 0.09230445325374603
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.54620623588562,
                "transform": {
                    "location": {
                        "x": 955.0816040039062,
                        "y": 3408.54296875,
                        "z": 370.2540588378906
                    },
                    "rotation": {
                        "roll": 0.0006279671797528863,
                        "pitch": -0.00900218915194273,
                        "yaw": 99.13811492919922
                    }
                },
                "velocity": {
                    "x": -0.40476909279823303,
                    "y": 2.513765573501587,
                    "z": 0.01761713996529579
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.110356092453003,
                "transform": {
                    "location": {
                        "x": 956.4574584960938,
                        "y": 3399.996826171875,
                        "z": 370.1900634765625
                    },
                    "rotation": {
                        "roll": 0.0005557414842769504,
                        "pitch": 0.7007022500038147,
                        "yaw": 99.14305877685547
                    }
                },
                "velocity": {
                    "x": -0.33528533577919006,
                    "y": 2.0834763050079346,
                    "z": 0.01768210344016552
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14690911769866943,
        "expert_target_speed": 6.449856943224666,
        "target_point": [
            54.61459589563284,
            -0.6032847090266884
        ],
        "target_point_next": [
            105.60925883545987,
            -1.3370126103366076
        ]
    },
    "160": {
        "acceleration": [
            -0.05167365074157715,
            0.6328010559082031,
            -0.019575953483581543
        ],
        "angular_velocity": [
            0.24035781621932983,
            0.0897531732916832,
            -0.7437040209770203
        ],
        "forward_vector": [
            -0.1699891984462738,
            0.9853301644325256,
            0.015105506405234337
        ],
        "right_vector": [
            -0.9854439496994019,
            -0.1699996441602707,
            -0.0005993600934743881
        ],
        "location": [
            967.1820678710938,
            3340.03857421875,
            369.4960021972656
        ],
        "rotation": [
            0.03434472531080246,
            0.8655146956443787,
            99.78832244873047
        ],
        "velocity": [
            -0.9331151247024536,
            5.496039867401123,
            0.07927367836236954
        ],
        "speed": 5.574689055006658,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.46517562866211,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.3698120117188,
                3400.541259765625,
                370.1946716308594
            ],
            "velocity": [
                -0.3651582598686218,
                2.268751382827759,
                0.017940206453204155
            ],
            "speed_kmh": 8.272871469279327,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7084503173828125,
                "transform": {
                    "location": {
                        "x": 964.9964599609375,
                        "y": 3393.89794921875,
                        "z": 370.130859375
                    },
                    "rotation": {
                        "roll": -0.0023498826194554567,
                        "pitch": -0.556332528591156,
                        "yaw": -80.40859985351562
                    }
                },
                "velocity": {
                    "x": 1.103865146636963,
                    "y": -6.616717338562012,
                    "z": -0.061937712132930756
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.380861282348633,
                "transform": {
                    "location": {
                        "x": 968.5782470703125,
                        "y": 3392.12548828125,
                        "z": 370.1100769042969
                    },
                    "rotation": {
                        "roll": -0.0021972605027258396,
                        "pitch": -0.5490720272064209,
                        "yaw": -80.51966094970703
                    }
                },
                "velocity": {
                    "x": 1.3757566213607788,
                    "y": -8.266752243041992,
                    "z": -0.08324041962623596
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.634730339050293,
                "transform": {
                    "location": {
                        "x": 976.4005737304688,
                        "y": 3296.12060546875,
                        "z": 368.7826232910156
                    },
                    "rotation": {
                        "roll": -0.08169545978307724,
                        "pitch": 1.0828239917755127,
                        "yaw": 94.54020690917969
                    }
                },
                "velocity": {
                    "x": -0.778307318687439,
                    "y": 9.601398468017578,
                    "z": 0.18820717930793762
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02707290649414,
                "transform": {
                    "location": {
                        "x": 975.1441040039062,
                        "y": 3351.50048828125,
                        "z": 369.6396789550781
                    },
                    "rotation": {
                        "roll": 0.002355666132643819,
                        "pitch": -0.768000066280365,
                        "yaw": -80.87287902832031
                    }
                },
                "velocity": {
                    "x": 1.2744461297988892,
                    "y": -7.924537658691406,
                    "z": -0.10671491175889969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005123138427734,
                "transform": {
                    "location": {
                        "x": 971.9020385742188,
                        "y": 3351.193115234375,
                        "z": 369.6471252441406
                    },
                    "rotation": {
                        "roll": -0.0005798692582175136,
                        "pitch": -0.7545787692070007,
                        "yaw": -80.8461685180664
                    }
                },
                "velocity": {
                    "x": 1.271784782409668,
                    "y": -7.902738571166992,
                    "z": -0.10622168332338333
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.639811515808105,
                "transform": {
                    "location": {
                        "x": 974.0254516601562,
                        "y": 3315.8310546875,
                        "z": 369.109130859375
                    },
                    "rotation": {
                        "roll": -0.030761785805225372,
                        "pitch": 1.1348427534103394,
                        "yaw": 98.29360961914062
                    }
                },
                "velocity": {
                    "x": -1.5385289192199707,
                    "y": 10.526511192321777,
                    "z": 0.17631591856479645
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049423217773438,
                "transform": {
                    "location": {
                        "x": 981.4939575195312,
                        "y": 3310.856201171875,
                        "z": 369.0076599121094
                    },
                    "rotation": {
                        "roll": 0.03243878856301308,
                        "pitch": -0.9999942779541016,
                        "yaw": -82.27702331542969
                    }
                },
                "velocity": {
                    "x": 1.0604890584945679,
                    "y": -7.978054523468018,
                    "z": -0.13867004215717316
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049830436706543,
                "transform": {
                    "location": {
                        "x": 978.2853393554688,
                        "y": 3310.336181640625,
                        "z": 369.0060729980469
                    },
                    "rotation": {
                        "roll": 0.0330229215323925,
                        "pitch": -1.006346344947815,
                        "yaw": -82.28228759765625
                    }
                },
                "velocity": {
                    "x": 1.0597097873687744,
                    "y": -7.978559494018555,
                    "z": -0.13921909034252167
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.01953125,
                        "y": 3420.77392578125,
                        "z": 370.4962158203125
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.399446487426758,
                "transform": {
                    "location": {
                        "x": 978.1360473632812,
                        "y": 3276.4755859375,
                        "z": 368.33111572265625
                    },
                    "rotation": {
                        "roll": -0.0015563501510769129,
                        "pitch": 1.3848003149032593,
                        "yaw": 93.49850463867188
                    }
                },
                "velocity": {
                    "x": -0.32908961176872253,
                    "y": 5.388049125671387,
                    "z": 0.12104108184576035
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.13770580291748,
                "transform": {
                    "location": {
                        "x": 970.6110229492188,
                        "y": 3337.494873046875,
                        "z": 369.4519958496094
                    },
                    "rotation": {
                        "roll": -0.0025329834315925837,
                        "pitch": 0.7389991283416748,
                        "yaw": 99.12387084960938
                    }
                },
                "velocity": {
                    "x": -1.2921241521835327,
                    "y": 8.033568382263184,
                    "z": 0.1201733946800232
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.75508975982666,
                "transform": {
                    "location": {
                        "x": 967.4285888671875,
                        "y": 3357.271728515625,
                        "z": 369.73004150390625
                    },
                    "rotation": {
                        "roll": 0.00032088306033983827,
                        "pitch": 0.7047593593597412,
                        "yaw": 99.16394805908203
                    }
                },
                "velocity": {
                    "x": -1.2324445247650146,
                    "y": 7.65588903427124,
                    "z": 0.09929845482110977
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033426284790039,
                "transform": {
                    "location": {
                        "x": 964.693359375,
                        "y": 3374.269287109375,
                        "z": 369.93548583984375
                    },
                    "rotation": {
                        "roll": -0.0006714053452014923,
                        "pitch": 0.6694473028182983,
                        "yaw": 99.13270568847656
                    }
                },
                "velocity": {
                    "x": -1.2767603397369385,
                    "y": 7.930788993835449,
                    "z": 0.09165658801794052
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.774945020675659,
                "transform": {
                    "location": {
                        "x": 954.975830078125,
                        "y": 3409.200927734375,
                        "z": 370.25885009765625
                    },
                    "rotation": {
                        "roll": 0.002674408722668886,
                        "pitch": -0.030182603746652603,
                        "yaw": 99.13964080810547
                    }
                },
                "velocity": {
                    "x": -0.4409741461277008,
                    "y": 2.739610433578491,
                    "z": 0.01990579627454281
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.2980198860168457,
                "transform": {
                    "location": {
                        "x": 956.3698120117188,
                        "y": 3400.541259765625,
                        "z": 370.1946716308594
                    },
                    "rotation": {
                        "roll": -9.157256135949865e-05,
                        "pitch": 0.6188560724258423,
                        "yaw": 99.14322662353516
                    }
                },
                "velocity": {
                    "x": -0.3651582598686218,
                    "y": 2.268751382827759,
                    "z": 0.017940206453204155
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1419544667005539,
        "expert_target_speed": 6.605373338199364,
        "target_point": [
            53.24558281911172,
            -0.43224516690228043
        ],
        "target_point_next": [
            104.24228387629168,
            -1.0071245145480248
        ]
    },
    "165": {
        "acceleration": [
            -0.15469670295715332,
            1.5094184875488281,
            0.027538686990737915
        ],
        "angular_velocity": [
            0.2379063367843628,
            -0.005472068674862385,
            -0.7560636401176453
        ],
        "forward_vector": [
            -0.1667354702949524,
            0.9858681559562683,
            0.016226889565587044
        ],
        "right_vector": [
            -0.985999345779419,
            -0.16674810647964478,
            -0.0005799117498099804
        ],
        "location": [
            966.9442749023438,
            3341.450927734375,
            369.5162353515625
        ],
        "rotation": [
            0.03323087468743324,
            0.9297730922698975,
            99.5993423461914
        ],
        "velocity": [
            -0.9629863500595093,
            5.79216194152832,
            0.08390699326992035
        ],
        "speed": 5.871667792653979,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.63148498535156,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.274658203125,
                3401.13232421875,
                370.1996765136719
            ],
            "velocity": [
                -0.39475950598716736,
                2.453714609146118,
                0.021394262090325356
            ],
            "speed_kmh": 8.947291535453902,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.6142144203186035,
                "transform": {
                    "location": {
                        "x": 965.294677734375,
                        "y": 3392.11083984375,
                        "z": 370.1128845214844
                    },
                    "rotation": {
                        "roll": -0.001190158654935658,
                        "pitch": -0.5334787368774414,
                        "yaw": -80.57520294189453
                    }
                },
                "velocity": {
                    "x": 1.242099642753601,
                    "y": -7.511849403381348,
                    "z": -0.07460685819387436
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.883422374725342,
                "transform": {
                    "location": {
                        "x": 968.9097290039062,
                        "y": 3390.12939453125,
                        "z": 370.09033203125
                    },
                    "rotation": {
                        "roll": -0.002777088200673461,
                        "pitch": -0.5679643750190735,
                        "yaw": -80.60530853271484
                    }
                },
                "velocity": {
                    "x": 1.279745101928711,
                    "y": -7.778473854064941,
                    "z": -0.07710467278957367
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.860638618469238,
                "transform": {
                    "location": {
                        "x": 976.1951293945312,
                        "y": 3298.40673828125,
                        "z": 368.8274841308594
                    },
                    "rotation": {
                        "roll": -0.07308963686227798,
                        "pitch": 1.0331002473831177,
                        "yaw": 95.41818237304688
                    }
                },
                "velocity": {
                    "x": -0.896686851978302,
                    "y": 8.813491821289062,
                    "z": 0.17098161578178406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077722549438477,
                "transform": {
                    "location": {
                        "x": 975.464111328125,
                        "y": 3349.511474609375,
                        "z": 369.6130065917969
                    },
                    "rotation": {
                        "roll": 0.0011168336495757103,
                        "pitch": -0.7579255700111389,
                        "yaw": -80.8471450805664
                    }
                },
                "velocity": {
                    "x": 1.282240867614746,
                    "y": -7.974576950073242,
                    "z": -0.10761965811252594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.071715354919434,
                "transform": {
                    "location": {
                        "x": 972.221435546875,
                        "y": 3349.208984375,
                        "z": 369.62054443359375
                    },
                    "rotation": {
                        "roll": -0.00024412049970123917,
                        "pitch": -0.756675660610199,
                        "yaw": -80.85417175292969
                    }
                },
                "velocity": {
                    "x": 1.2827099561691284,
                    "y": -7.9684271812438965,
                    "z": -0.10683418810367584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.692143440246582,
                "transform": {
                    "location": {
                        "x": 973.6485595703125,
                        "y": 3318.3515625,
                        "z": 369.1509704589844
                    },
                    "rotation": {
                        "roll": -0.040618907660245895,
                        "pitch": 0.8445938229560852,
                        "yaw": 98.60054016113281
                    }
                },
                "velocity": {
                    "x": -1.4582843780517578,
                    "y": 9.580480575561523,
                    "z": 0.1595219224691391
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049086570739746,
                "transform": {
                    "location": {
                        "x": 981.7555541992188,
                        "y": 3308.861083984375,
                        "z": 368.9724426269531
                    },
                    "rotation": {
                        "roll": 0.020761923864483833,
                        "pitch": -1.0172951221466064,
                        "yaw": -82.54461669921875
                    }
                },
                "velocity": {
                    "x": 1.0355926752090454,
                    "y": -7.980924606323242,
                    "z": -0.14208295941352844
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048859596252441,
                "transform": {
                    "location": {
                        "x": 978.5466918945312,
                        "y": 3308.341064453125,
                        "z": 368.9707336425781
                    },
                    "rotation": {
                        "roll": 0.02191939391195774,
                        "pitch": -1.0245965719223022,
                        "yaw": -82.55113220214844
                    }
                },
                "velocity": {
                    "x": 1.034629225730896,
                    "y": -7.980828285217285,
                    "z": -0.14165078103542328
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.9634399414062,
                        "y": 3421.12109375,
                        "z": 370.4847106933594
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.260810852050781,
                "transform": {
                    "location": {
                        "x": 978.0330810546875,
                        "y": 3278.046875,
                        "z": 368.36651611328125
                    },
                    "rotation": {
                        "roll": -0.015014774166047573,
                        "pitch": 1.533889651298523,
                        "yaw": 93.73971557617188
                    }
                },
                "velocity": {
                    "x": -0.4897661805152893,
                    "y": 7.242465019226074,
                    "z": 0.16186203062534332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.968905448913574,
                "transform": {
                    "location": {
                        "x": 970.2737426757812,
                        "y": 3339.591552734375,
                        "z": 369.4823303222656
                    },
                    "rotation": {
                        "roll": -0.0014038635417819023,
                        "pitch": 0.9822904467582703,
                        "yaw": 99.16761016845703
                    }
                },
                "velocity": {
                    "x": -1.4259120225906372,
                    "y": 8.853864669799805,
                    "z": 0.13081727921962738
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.75700569152832,
                "transform": {
                    "location": {
                        "x": 967.120361328125,
                        "y": 3359.185791015625,
                        "z": 369.7537536621094
                    },
                    "rotation": {
                        "roll": -0.00012207201507408172,
                        "pitch": 0.6982433795928955,
                        "yaw": 99.13356018066406
                    }
                },
                "velocity": {
                    "x": -1.2327368259429932,
                    "y": 7.657855033874512,
                    "z": 0.09353958070278168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033870697021484,
                "transform": {
                    "location": {
                        "x": 964.374267578125,
                        "y": 3376.251708984375,
                        "z": 369.9581298828125
                    },
                    "rotation": {
                        "roll": -9.15997225092724e-05,
                        "pitch": 0.6457465291023254,
                        "yaw": 99.15264892578125
                    }
                },
                "velocity": {
                    "x": -1.275913119316101,
                    "y": 7.931382179260254,
                    "z": 0.09109511971473694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.0030999183654785,
                "transform": {
                    "location": {
                        "x": 954.8609008789062,
                        "y": 3409.9150390625,
                        "z": 370.26422119140625
                    },
                    "rotation": {
                        "roll": 0.00045259183389134705,
                        "pitch": -0.03390505537390709,
                        "yaw": 99.13987731933594
                    }
                },
                "velocity": {
                    "x": -0.4771935045719147,
                    "y": 2.964866876602173,
                    "z": 0.021433962509036064
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.485358715057373,
                "transform": {
                    "location": {
                        "x": 956.274658203125,
                        "y": 3401.13232421875,
                        "z": 370.1996765136719
                    },
                    "rotation": {
                        "roll": -0.0011596237309277058,
                        "pitch": 0.610024631023407,
                        "yaw": 99.14282989501953
                    }
                },
                "velocity": {
                    "x": -0.39475950598716736,
                    "y": 2.453714609146118,
                    "z": 0.021394262090325356
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13964013755321503,
        "expert_target_speed": 6.8693994593352645,
        "target_point": [
            51.81448750751082,
            -0.25555401153654245
        ],
        "target_point_next": [
            102.81280738492798,
            -0.6622168453031989
        ]
    },
    "170": {
        "acceleration": [
            -0.07754087448120117,
            0.9039497375488281,
            0.009040534496307373
        ],
        "angular_velocity": [
            0.024699123576283455,
            0.03140563890337944,
            -0.7806055545806885
        ],
        "forward_vector": [
            -0.1633186936378479,
            0.9864310026168823,
            0.016762901097536087
        ],
        "right_vector": [
            -0.9865709543228149,
            -0.1633322536945343,
            -0.000565718743018806
        ],
        "location": [
            966.6990966796875,
            3342.9365234375,
            369.5377502441406
        ],
        "rotation": [
            0.03241785615682602,
            0.960488498210907,
            99.40090942382812
        ],
        "velocity": [
            -0.9906677007675171,
            6.080268859863281,
            0.08812171965837479
        ],
        "speed": 6.160445755103045,
        "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": 59.7636833190918,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.17333984375,
                3401.76220703125,
                370.20526123046875
            ],
            "velocity": [
                -0.41825997829437256,
                2.5987133979797363,
                0.022412395104765892
            ],
            "speed_kmh": 9.476110248650837,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.685625076293945,
                "transform": {
                    "location": {
                        "x": 965.6283569335938,
                        "y": 3390.091796875,
                        "z": 370.0926818847656
                    },
                    "rotation": {
                        "roll": -0.0006103665800765157,
                        "pitch": -0.5203852653503418,
                        "yaw": -80.66837310791016
                    }
                },
                "velocity": {
                    "x": 1.4058010578155518,
                    "y": -8.570688247680664,
                    "z": -0.08430691808462143
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.127385139465332,
                "transform": {
                    "location": {
                        "x": 969.232177734375,
                        "y": 3388.1650390625,
                        "z": 370.07086181640625
                    },
                    "rotation": {
                        "roll": -0.0009155554580502212,
                        "pitch": -0.5576712489128113,
                        "yaw": -80.70346069335938
                    }
                },
                "velocity": {
                    "x": 1.3087862730026245,
                    "y": -8.020926475524902,
                    "z": -0.07882752269506454
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.574922561645508,
                "transform": {
                    "location": {
                        "x": 975.9633178710938,
                        "y": 3300.6787109375,
                        "z": 368.8699951171875
                    },
                    "rotation": {
                        "roll": -0.037322998046875,
                        "pitch": 1.126865029335022,
                        "yaw": 95.92229461669922
                    }
                },
                "velocity": {
                    "x": -1.004544734954834,
                    "y": 9.520363807678223,
                    "z": 0.1808594912290573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052579879760742,
                "transform": {
                    "location": {
                        "x": 975.7841796875,
                        "y": 3347.520751953125,
                        "z": 369.58538818359375
                    },
                    "rotation": {
                        "roll": 6.427954212995246e-05,
                        "pitch": -0.808434784412384,
                        "yaw": -80.87920379638672
                    }
                },
                "velocity": {
                    "x": 1.2778398990631104,
                    "y": -7.949767112731934,
                    "z": -0.11122632771730423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013570785522461,
                "transform": {
                    "location": {
                        "x": 972.5408325195312,
                        "y": 3347.223876953125,
                        "z": 369.59307861328125
                    },
                    "rotation": {
                        "roll": -0.00042724725790321827,
                        "pitch": -0.7868036031723022,
                        "yaw": -80.85884094238281
                    }
                },
                "velocity": {
                    "x": 1.272963285446167,
                    "y": -7.911017894744873,
                    "z": -0.11259300261735916
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.416932106018066,
                "transform": {
                    "location": {
                        "x": 973.3114624023438,
                        "y": 3320.544677734375,
                        "z": 369.1869201660156
                    },
                    "rotation": {
                        "roll": -0.026824958622455597,
                        "pitch": 0.7101483941078186,
                        "yaw": 98.7807388305664
                    }
                },
                "velocity": {
                    "x": -1.2881183624267578,
                    "y": 8.31667423248291,
                    "z": 0.1357533037662506
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050104141235352,
                "transform": {
                    "location": {
                        "x": 982.01318359375,
                        "y": 3306.865966796875,
                        "z": 368.9367370605469
                    },
                    "rotation": {
                        "roll": 0.007139130495488644,
                        "pitch": -1.0312765836715698,
                        "yaw": -82.6495590209961
                    }
                },
                "velocity": {
                    "x": 1.0263422727584839,
                    "y": -7.983108997344971,
                    "z": -0.14409932494163513
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050952911376953,
                "transform": {
                    "location": {
                        "x": 978.8030395507812,
                        "y": 3306.345947265625,
                        "z": 368.93475341796875
                    },
                    "rotation": {
                        "roll": 0.026668347418308258,
                        "pitch": -1.0419248342514038,
                        "yaw": -82.70124053955078
                    }
                },
                "velocity": {
                    "x": 0.9978944659233093,
                    "y": -7.987536430358887,
                    "z": -0.14596344530582428
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.8743286132812,
                        "y": 3421.673095703125,
                        "z": 370.4665832519531
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.410375595092773,
                "transform": {
                    "location": {
                        "x": 977.8985595703125,
                        "y": 3280.002685546875,
                        "z": 368.4100036621094
                    },
                    "rotation": {
                        "roll": -0.00894169695675373,
                        "pitch": 1.4726979732513428,
                        "yaw": 93.94084930419922
                    }
                },
                "velocity": {
                    "x": -0.582341730594635,
                    "y": 8.38815689086914,
                    "z": 0.18472516536712646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.067237854003906,
                "transform": {
                    "location": {
                        "x": 969.8864135742188,
                        "y": 3341.998046875,
                        "z": 369.5162353515625
                    },
                    "rotation": {
                        "roll": 0.00044775172136723995,
                        "pitch": 1.255873680114746,
                        "yaw": 99.13613891601562
                    }
                },
                "velocity": {
                    "x": -1.5988134145736694,
                    "y": 9.938437461853027,
                    "z": 0.1432921141386032
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.7588653564453125,
                "transform": {
                    "location": {
                        "x": 966.8121948242188,
                        "y": 3361.1005859375,
                        "z": 369.7771911621094
                    },
                    "rotation": {
                        "roll": 0.0009133390267379582,
                        "pitch": 0.6997665166854858,
                        "yaw": 99.15972137451172
                    }
                },
                "velocity": {
                    "x": -1.2324610948562622,
                    "y": 7.659800052642822,
                    "z": 0.09217172116041183
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4814,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035201072692871,
                "transform": {
                    "location": {
                        "x": 964.0552368164062,
                        "y": 3378.234619140625,
                        "z": 369.98052978515625
                    },
                    "rotation": {
                        "roll": -0.001373298466205597,
                        "pitch": 0.6326667070388794,
                        "yaw": 99.13020324707031
                    }
                },
                "velocity": {
                    "x": -1.277064561843872,
                    "y": 7.932571887969971,
                    "z": 0.08865179121494293
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1767446994781494,
                "transform": {
                    "location": {
                        "x": 954.737548828125,
                        "y": 3410.681396484375,
                        "z": 370.2699890136719
                    },
                    "rotation": {
                        "roll": 0.0007195543730631471,
                        "pitch": -0.009493962861597538,
                        "yaw": 99.14081573486328
                    }
                },
                "velocity": {
                    "x": -0.5048750042915344,
                    "y": 3.1362924575805664,
                    "z": 0.0218352023512125
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.6322526931762695,
                "transform": {
                    "location": {
                        "x": 956.17333984375,
                        "y": 3401.76220703125,
                        "z": 370.20526123046875
                    },
                    "rotation": {
                        "roll": -0.00024414132349193096,
                        "pitch": 0.6439980268478394,
                        "yaw": 99.1424560546875
                    }
                },
                "velocity": {
                    "x": -0.41825997829437256,
                    "y": 2.5987133979797363,
                    "z": 0.022412395104765892
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14270466566085815,
        "expert_target_speed": 7.121705239572832,
        "target_point": [
            50.309370481921775,
            -0.07534265872577528
        ],
        "target_point_next": [
            101.30879284175765,
            -0.30539470240681865
        ]
    },
    "175": {
        "acceleration": [
            -0.09624242782592773,
            1.293630599975586,
            0.0014823675155639648
        ],
        "angular_velocity": [
            0.004276291932910681,
            -0.0038631088100373745,
            -0.8590567111968994
        ],
        "forward_vector": [
            -0.15975020825862885,
            0.98701411485672,
            0.016824880614876747
        ],
        "right_vector": [
            -0.9871551990509033,
            -0.1597633808851242,
            -0.0005666753277182579
        ],
        "location": [
            966.4474487304688,
            3344.4951171875,
            369.5603942871094
        ],
        "rotation": [
            0.032472703605890274,
            0.9640401601791382,
            99.19371032714844
        ],
        "velocity": [
            -1.0135823488235474,
            6.36805534362793,
            0.09232854843139648
        ],
        "speed": 6.448215104767744,
        "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": 58.88471603393555,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                956.0620727539062,
                3402.453125,
                370.21112060546875
            ],
            "velocity": [
                -0.46174171566963196,
                2.8689749240875244,
                0.02494429610669613
            ],
            "speed_kmh": 10.461605416685954,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.391351222991943,
                "transform": {
                    "location": {
                        "x": 978.7985229492188,
                        "y": 3265.77685546875,
                        "z": 368.473388671875
                    },
                    "rotation": {
                        "roll": -5.337462738452814e-08,
                        "pitch": 1.3019500970840454,
                        "yaw": 92.15090942382812
                    }
                },
                "velocity": {
                    "x": -0.23952914774417877,
                    "y": 6.377539157867432,
                    "z": -0.34495383501052856
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.304765701293945,
                "transform": {
                    "location": {
                        "x": 965.969970703125,
                        "y": 3388.0,
                        "z": 370.07244873046875
                    },
                    "rotation": {
                        "roll": -0.00137325469404459,
                        "pitch": -0.5643853545188904,
                        "yaw": -80.63981628417969
                    }
                },
                "velocity": {
                    "x": 1.3364012241363525,
                    "y": -8.196135520935059,
                    "z": -0.08086007833480835
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.10194206237793,
                "transform": {
                    "location": {
                        "x": 969.5606689453125,
                        "y": 3386.15087890625,
                        "z": 370.0501403808594
                    },
                    "rotation": {
                        "roll": -0.0007019200129434466,
                        "pitch": -0.5972043871879578,
                        "yaw": -80.7526626586914
                    }
                },
                "velocity": {
                    "x": 1.3017476797103882,
                    "y": -7.996216297149658,
                    "z": -0.08624047040939331
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.077191352844238,
                "transform": {
                    "location": {
                        "x": 975.6943359375,
                        "y": 3303.140869140625,
                        "z": 368.9164733886719
                    },
                    "rotation": {
                        "roll": -0.047912534326314926,
                        "pitch": 1.1170705556869507,
                        "yaw": 96.41692352294922
                    }
                },
                "velocity": {
                    "x": -1.178637981414795,
                    "y": 10.00629711151123,
                    "z": 0.18604713678359985
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054789543151855,
                "transform": {
                    "location": {
                        "x": 976.1036987304688,
                        "y": 3345.5341796875,
                        "z": 369.5570373535156
                    },
                    "rotation": {
                        "roll": -0.0009155283332802355,
                        "pitch": -0.8308104872703552,
                        "yaw": -80.84245300292969
                    }
                },
                "velocity": {
                    "x": 1.2799252271652222,
                    "y": -7.95160436630249,
                    "z": -0.11583268642425537
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.069771766662598,
                "transform": {
                    "location": {
                        "x": 972.860107421875,
                        "y": 3345.2392578125,
                        "z": 369.56494140625
                    },
                    "rotation": {
                        "roll": -0.00015257451741490513,
                        "pitch": -0.8257493376731873,
                        "yaw": -80.86051177978516
                    }
                },
                "velocity": {
                    "x": 1.2841360569000244,
                    "y": -7.966092586517334,
                    "z": -0.11656684428453445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.96549129486084,
                "transform": {
                    "location": {
                        "x": 972.9794921875,
                        "y": 3322.6708984375,
                        "z": 369.2215270996094
                    },
                    "rotation": {
                        "roll": -0.02273564040660858,
                        "pitch": 0.9570050835609436,
                        "yaw": 98.8972396850586
                    }
                },
                "velocity": {
                    "x": -1.3939471244812012,
                    "y": 8.855300903320312,
                    "z": 0.14353547990322113
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04880428314209,
                "transform": {
                    "location": {
                        "x": 982.2583618164062,
                        "y": 3304.869384765625,
                        "z": 368.9006042480469
                    },
                    "rotation": {
                        "roll": 0.030701784417033195,
                        "pitch": -1.0500800609588623,
                        "yaw": -83.01817321777344
                    }
                },
                "velocity": {
                    "x": 0.9624320864677429,
                    "y": -7.98972749710083,
                    "z": -0.14572212100028992
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04830551147461,
                "transform": {
                    "location": {
                        "x": 979.046630859375,
                        "y": 3304.3486328125,
                        "z": 368.8982238769531
                    },
                    "rotation": {
                        "roll": 0.02814844809472561,
                        "pitch": -1.0598130226135254,
                        "yaw": -83.05924224853516
                    }
                },
                "velocity": {
                    "x": 0.9594779014587402,
                    "y": -7.989527225494385,
                    "z": -0.14857761561870575
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.751953125,
                        "y": 3422.43212890625,
                        "z": 370.4416198730469
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.612937927246094,
                "transform": {
                    "location": {
                        "x": 977.7395629882812,
                        "y": 3282.254638671875,
                        "z": 368.4594421386719
                    },
                    "rotation": {
                        "roll": -0.022613540291786194,
                        "pitch": 1.4474741220474243,
                        "yaw": 94.08573150634766
                    }
                },
                "velocity": {
                    "x": -0.709065854549408,
                    "y": 9.584479331970215,
                    "z": 0.20870904624462128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.944598197937012,
                "transform": {
                    "location": {
                        "x": 969.5055541992188,
                        "y": 3344.364013671875,
                        "z": 369.5523376464844
                    },
                    "rotation": {
                        "roll": 0.0005741849890910089,
                        "pitch": 0.7477622628211975,
                        "yaw": 99.14060974121094
                    }
                },
                "velocity": {
                    "x": -1.4207907915115356,
                    "y": 8.830096244812012,
                    "z": 0.1287848800420761
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.75722074508667,
                "transform": {
                    "location": {
                        "x": 966.5039672851562,
                        "y": 3363.015625,
                        "z": 369.8006286621094
                    },
                    "rotation": {
                        "roll": 0.0006189253181219101,
                        "pitch": 0.6999850869178772,
                        "yaw": 99.13179779052734
                    }
                },
                "velocity": {
                    "x": -1.2328050136566162,
                    "y": 7.658071041107178,
                    "z": 0.09281095117330551
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.160221815109253,
                "transform": {
                    "location": {
                        "x": 954.612060546875,
                        "y": 3411.461181640625,
                        "z": 370.27587890625
                    },
                    "rotation": {
                        "roll": 0.00041504125692881644,
                        "pitch": 0.09417464584112167,
                        "yaw": 99.1395492553711
                    }
                },
                "velocity": {
                    "x": -0.5014388561248779,
                    "y": 3.120105266571045,
                    "z": 0.022463683038949966
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.906001329421997,
                "transform": {
                    "location": {
                        "x": 956.0620727539062,
                        "y": 3402.453125,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.00042730889981612563,
                        "pitch": 0.5797191262245178,
                        "yaw": 99.14257049560547
                    }
                },
                "velocity": {
                    "x": -0.46174171566963196,
                    "y": 2.8689749240875244,
                    "z": 0.02494429610669613
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15107478201389313,
        "expert_target_speed": 7.3690983870392825,
        "target_point": [
            48.73053566331505,
            0.10722262503468905
        ],
        "target_point_next": [
            99.73045650648199,
            0.061626896769844564
        ]
    },
    "180": {
        "acceleration": [
            0.005943775177001953,
            0.08149147033691406,
            0.0028659403324127197
        ],
        "angular_velocity": [
            -0.38798052072525024,
            0.044562287628650665,
            -0.6575652360916138
        ],
        "forward_vector": [
            -0.1561947911977768,
            0.9875962138175964,
            0.016026049852371216
        ],
        "right_vector": [
            -0.987724244594574,
            -0.15620705485343933,
            -0.0004926505498588085
        ],
        "location": [
            966.1925659179688,
            3346.10986328125,
            369.5834655761719
        ],
        "rotation": [
            0.028230421245098114,
            0.9182642698287964,
            98.98725891113281
        ],
        "velocity": [
            -1.0187917947769165,
            6.522731781005859,
            0.09176252037286758
        ],
        "speed": 6.60181540245171,
        "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": 58.001338958740234,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.9426879882812,
                3403.19482421875,
                370.2176818847656
            ],
            "velocity": [
                -0.49231603741645813,
                3.0579235553741455,
                0.025741662830114365
            ],
            "speed_kmh": 11.150667559837627,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.1678466796875,
                        "y": 3425.287353515625,
                        "z": 370.7629699707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.6996459960938,
                        "y": 3268.107421875,
                        "z": 368.1448669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3019500970840454,
                        "yaw": 92.909423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.02602767944336,
                "transform": {
                    "location": {
                        "x": 966.2958984375,
                        "y": 3385.99365234375,
                        "z": 370.05194091796875
                    },
                    "rotation": {
                        "roll": -0.0025635147467255592,
                        "pitch": -0.5979898571968079,
                        "yaw": -80.55628967285156
                    }
                },
                "velocity": {
                    "x": 1.2890502214431763,
                    "y": -7.921382904052734,
                    "z": -0.08459368348121643
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.02138614654541,
                "transform": {
                    "location": {
                        "x": 969.8823852539062,
                        "y": 3384.168701171875,
                        "z": 370.0289001464844
                    },
                    "rotation": {
                        "roll": -0.00018309241568204015,
                        "pitch": -0.6376391053199768,
                        "yaw": -80.79216003417969
                    }
                },
                "velocity": {
                    "x": 1.2811073064804077,
                    "y": -7.917928695678711,
                    "z": -0.08832442760467529
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.463072776794434,
                "transform": {
                    "location": {
                        "x": 975.4043579101562,
                        "y": 3305.591064453125,
                        "z": 368.9626770019531
                    },
                    "rotation": {
                        "roll": -0.02441404014825821,
                        "pitch": 1.0107791423797607,
                        "yaw": 96.8575210571289
                    }
                },
                "velocity": {
                    "x": -1.1393927335739136,
                    "y": 9.392667770385742,
                    "z": 0.171237975358963
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062117576599121,
                "transform": {
                    "location": {
                        "x": 976.4238891601562,
                        "y": 3343.544921875,
                        "z": 369.5280456542969
                    },
                    "rotation": {
                        "roll": 0.000344693660736084,
                        "pitch": -0.8272110223770142,
                        "yaw": -80.8696517944336
                    }
                },
                "velocity": {
                    "x": 1.2814255952835083,
                    "y": -7.958797454833984,
                    "z": -0.11504253000020981
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013214111328125,
                "transform": {
                    "location": {
                        "x": 973.179443359375,
                        "y": 3343.2548828125,
                        "z": 369.5359191894531
                    },
                    "rotation": {
                        "roll": -0.0004883285728283226,
                        "pitch": -0.8211321234703064,
                        "yaw": -80.86060333251953
                    }
                },
                "velocity": {
                    "x": 1.2704273462295532,
                    "y": -7.9110283851623535,
                    "z": -0.11507071554660797
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.89172649383545,
                "transform": {
                    "location": {
                        "x": 972.6160888671875,
                        "y": 3324.969970703125,
                        "z": 369.2588195800781
                    },
                    "rotation": {
                        "roll": -0.014160113409161568,
                        "pitch": 1.0806792974472046,
                        "yaw": 98.99539184570312
                    }
                },
                "velocity": {
                    "x": -1.5482155084609985,
                    "y": 9.768537521362305,
                    "z": 0.15797214210033417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.051027297973633,
                "transform": {
                    "location": {
                        "x": 982.4967041015625,
                        "y": 3302.87109375,
                        "z": 368.8636779785156
                    },
                    "rotation": {
                        "roll": 0.01308165118098259,
                        "pitch": -1.0663154125213623,
                        "yaw": -83.20965576171875
                    }
                },
                "velocity": {
                    "x": 0.9457728266716003,
                    "y": -7.993927478790283,
                    "z": -0.14723244309425354
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050326347351074,
                "transform": {
                    "location": {
                        "x": 979.28466796875,
                        "y": 3302.350830078125,
                        "z": 368.8609924316406
                    },
                    "rotation": {
                        "roll": 0.010915018618106842,
                        "pitch": -1.0759527683258057,
                        "yaw": -83.2157211303711
                    }
                },
                "velocity": {
                    "x": 0.9461307525634766,
                    "y": -7.993143081665039,
                    "z": -0.1491684764623642
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.6069946289062,
                        "y": 3423.33203125,
                        "z": 370.412109375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.94914436340332,
                "transform": {
                    "location": {
                        "x": 977.54833984375,
                        "y": 3284.731201171875,
                        "z": 368.5128173828125
                    },
                    "rotation": {
                        "roll": -0.025756865739822388,
                        "pitch": 1.3203916549682617,
                        "yaw": 94.50560760498047
                    }
                },
                "velocity": {
                    "x": -0.7837342619895935,
                    "y": 9.915909767150879,
                    "z": 0.2143998146057129
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.565069198608398,
                "transform": {
                    "location": {
                        "x": 969.1870727539062,
                        "y": 3346.343017578125,
                        "z": 369.5822448730469
                    },
                    "rotation": {
                        "roll": 0.00011966413876507431,
                        "pitch": 0.36583855748176575,
                        "yaw": 99.12510681152344
                    }
                },
                "velocity": {
                    "x": -1.2014641761779785,
                    "y": 7.468332767486572,
                    "z": 0.10373453050851822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.111510276794434,
                "transform": {
                    "location": {
                        "x": 966.1904296875,
                        "y": 3364.963134765625,
                        "z": 369.8243713378906
                    },
                    "rotation": {
                        "roll": 0.0009824273874983191,
                        "pitch": 0.7345526814460754,
                        "yaw": 99.16366577148438
                    }
                },
                "velocity": {
                    "x": -1.2892216444015503,
                    "y": 8.007829666137695,
                    "z": 0.09572087973356247
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1435534954071045,
                "transform": {
                    "location": {
                        "x": 954.4867553710938,
                        "y": 3412.239990234375,
                        "z": 370.2817077636719
                    },
                    "rotation": {
                        "roll": -0.0008850115700624883,
                        "pitch": 0.11678256839513779,
                        "yaw": 99.14009857177734
                    }
                },
                "velocity": {
                    "x": -0.4990912973880768,
                    "y": 3.103606700897217,
                    "z": 0.021478747949004173
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.097407817840576,
                "transform": {
                    "location": {
                        "x": 955.9426879882812,
                        "y": 3403.19482421875,
                        "z": 370.2176818847656
                    },
                    "rotation": {
                        "roll": 0.00016753563249949366,
                        "pitch": 0.6018421053886414,
                        "yaw": 99.14299774169922
                    }
                },
                "velocity": {
                    "x": -0.49231603741645813,
                    "y": 3.0579235553741455,
                    "z": 0.025741662830114365
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1580749750137329,
        "expert_target_speed": 7.499265952200256,
        "target_point": [
            47.09509441484563,
            0.2833133855134031
        ],
        "target_point_next": [
            98.09484844557136,
            0.42149364895059094
        ]
    },
    "185": {
        "acceleration": [
            -0.09051322937011719,
            0.19346237182617188,
            0.028088092803955078
        ],
        "angular_velocity": [
            -0.37941208481788635,
            0.15003876388072968,
            0.18566587567329407
        ],
        "forward_vector": [
            -0.15525177121162415,
            0.9877715110778809,
            0.014291872270405293
        ],
        "right_vector": [
            -0.9878724813461304,
            -0.1552673876285553,
            -1.8176155208493583e-05
        ],
        "location": [
            965.9360961914062,
            3347.74365234375,
            369.6064453125
        ],
        "rotation": [
            0.001041523413732648,
            0.8188918232917786,
            98.93231964111328
        ],
        "velocity": [
            -1.030659794807434,
            6.5378923416137695,
            0.0929015725851059
        ],
        "speed": 6.61863247832696,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.13724899291992,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.8172607421875,
                3403.974365234375,
                370.2240295410156
            ],
            "velocity": [
                -0.5194715261459351,
                3.228113889694214,
                0.02485090121626854
            ],
            "speed_kmh": 11.771057311945789,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.497314453125,
                        "y": 3423.239013671875,
                        "z": 370.56951904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.5902709960938,
                        "y": 3270.483154296875,
                        "z": 368.1966247558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3019500970840454,
                        "yaw": 92.909423828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.852884292602539,
                "transform": {
                    "location": {
                        "x": 966.5905151367188,
                        "y": 3384.184814453125,
                        "z": 370.03314208984375
                    },
                    "rotation": {
                        "roll": -0.002380323363468051,
                        "pitch": -0.6696180701255798,
                        "yaw": -80.66166687011719
                    }
                },
                "velocity": {
                    "x": 1.0952818393707275,
                    "y": -6.764378070831299,
                    "z": -0.0746653825044632
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.093448638916016,
                "transform": {
                    "location": {
                        "x": 970.2044067382812,
                        "y": 3382.178955078125,
                        "z": 370.0065612792969
                    },
                    "rotation": {
                        "roll": -0.0007324483594857156,
                        "pitch": -0.6283568739891052,
                        "yaw": -80.81322479248047
                    }
                },
                "velocity": {
                    "x": 1.292155385017395,
                    "y": -7.989146709442139,
                    "z": -0.08820673078298569
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.973559379577637,
                "transform": {
                    "location": {
                        "x": 975.11865234375,
                        "y": 3307.885009765625,
                        "z": 369.00439453125
                    },
                    "rotation": {
                        "roll": -0.031127868220210075,
                        "pitch": 0.9812522530555725,
                        "yaw": 97.23207092285156
                    }
                },
                "velocity": {
                    "x": -1.1710339784622192,
                    "y": 8.895398139953613,
                    "z": 0.15916728973388672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055499076843262,
                "transform": {
                    "location": {
                        "x": 976.7442016601562,
                        "y": 3341.55615234375,
                        "z": 369.49908447265625
                    },
                    "rotation": {
                        "roll": -3.0498908017762005e-05,
                        "pitch": -0.8275388479232788,
                        "yaw": -80.83501434326172
                    }
                },
                "velocity": {
                    "x": 1.2804309129714966,
                    "y": -7.9522552490234375,
                    "z": -0.11489736288785934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.07210922241211,
                "transform": {
                    "location": {
                        "x": 973.4989013671875,
                        "y": 3341.26953125,
                        "z": 369.5070495605469
                    },
                    "rotation": {
                        "roll": 0.0001309342624153942,
                        "pitch": -0.8201895356178284,
                        "yaw": -80.85917663574219
                    }
                },
                "velocity": {
                    "x": 1.28226900100708,
                    "y": -7.968765735626221,
                    "z": -0.11619666963815689
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.219954490661621,
                "transform": {
                    "location": {
                        "x": 972.2096557617188,
                        "y": 3327.526123046875,
                        "z": 369.3002014160156
                    },
                    "rotation": {
                        "roll": -0.010528573766350746,
                        "pitch": 1.0148977041244507,
                        "yaw": 99.04881286621094
                    }
                },
                "velocity": {
                    "x": -1.6096683740615845,
                    "y": 10.091087341308594,
                    "z": 0.16244976222515106
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048372268676758,
                "transform": {
                    "location": {
                        "x": 982.7269287109375,
                        "y": 3300.872802734375,
                        "z": 368.8262023925781
                    },
                    "rotation": {
                        "roll": 0.03389769420027733,
                        "pitch": -1.0852282047271729,
                        "yaw": -83.47891998291016
                    }
                },
                "velocity": {
                    "x": 0.8911449909210205,
                    "y": -7.997469425201416,
                    "z": -0.15048936009407043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048640251159668,
                "transform": {
                    "location": {
                        "x": 979.5149536132812,
                        "y": 3300.35205078125,
                        "z": 368.8231506347656
                    },
                    "rotation": {
                        "roll": 0.033245161175727844,
                        "pitch": -1.092618465423584,
                        "yaw": -83.47838592529297
                    }
                },
                "velocity": {
                    "x": 0.8910605311393738,
                    "y": -7.997707843780518,
                    "z": -0.15264053642749786
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.4423828125,
                        "y": 3424.355224609375,
                        "z": 370.3867492675781
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.939349174499512,
                "transform": {
                    "location": {
                        "x": 977.3592529296875,
                        "y": 3287.071533203125,
                        "z": 368.5621643066406
                    },
                    "rotation": {
                        "roll": -0.029876690357923508,
                        "pitch": 1.1098920106887817,
                        "yaw": 94.68672943115234
                    }
                },
                "velocity": {
                    "x": -0.7524616122245789,
                    "y": 8.905618667602539,
                    "z": 0.18901705741882324
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.913161754608154,
                "transform": {
                    "location": {
                        "x": 968.8837280273438,
                        "y": 3348.230224609375,
                        "z": 369.6072692871094
                    },
                    "rotation": {
                        "roll": 0.0015094662085175514,
                        "pitch": 0.6635391712188721,
                        "yaw": 99.14876556396484
                    }
                },
                "velocity": {
                    "x": -1.2559770345687866,
                    "y": 7.812097072601318,
                    "z": 0.10857491940259933
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.097354888916016,
                "transform": {
                    "location": {
                        "x": 965.8662109375,
                        "y": 3366.978271484375,
                        "z": 369.8484802246094
                    },
                    "rotation": {
                        "roll": 0.0002793368184939027,
                        "pitch": 0.6762570142745972,
                        "yaw": 99.12550354003906
                    }
                },
                "velocity": {
                    "x": -1.2848789691925049,
                    "y": 7.994204044342041,
                    "z": 0.09455859661102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.0790674686431885,
                "transform": {
                    "location": {
                        "x": 954.36328125,
                        "y": 3413.0078125,
                        "z": 370.28741455078125
                    },
                    "rotation": {
                        "roll": 0.0011841944651678205,
                        "pitch": 0.1456674337387085,
                        "yaw": 99.14141082763672
                    }
                },
                "velocity": {
                    "x": -0.48924392461776733,
                    "y": 3.039875030517578,
                    "z": 0.021364850923419
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.26973819732666,
                "transform": {
                    "location": {
                        "x": 955.8172607421875,
                        "y": 3403.974365234375,
                        "z": 370.2240295410156
                    },
                    "rotation": {
                        "roll": -0.0005493227508850396,
                        "pitch": 0.5592421889305115,
                        "yaw": 99.14282989501953
                    }
                },
                "velocity": {
                    "x": -0.5194715261459351,
                    "y": 3.228113889694214,
                    "z": 0.02485090121626854
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16219651699066162,
        "expert_target_speed": 7.513426677202599,
        "target_point": [
            45.44100444883552,
            0.32878853409792885
        ],
        "target_point_next": [
            96.44060252801413,
            0.515873386427776
        ]
    },
    "190": {
        "acceleration": [
            0.004093647003173828,
            -0.1912403106689453,
            -0.004883557558059692
        ],
        "angular_velocity": [
            -0.05220053717494011,
            -0.008024638518691063,
            0.27006301283836365
        ],
        "forward_vector": [
            -0.15626300871372223,
            0.9876216053962708,
            0.013619358651340008
        ],
        "right_vector": [
            -0.9877129197120667,
            -0.1562795639038086,
            0.00015338370576500893
        ],
        "location": [
            965.6781005859375,
            3349.373291015625,
            369.6285400390625
        ],
        "rotation": [
            -0.008789054118096828,
            0.7803558707237244,
            98.99089813232422
        ],
        "velocity": [
            -1.0357239246368408,
            6.518640518188477,
            0.08719348907470703
        ],
        "speed": 6.600408945924007,
        "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": 56.157073974609375,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.7109375,
                3404.635498046875,
                370.2293701171875
            ],
            "velocity": [
                -0.4202118515968323,
                2.6105644702911377,
                0.021431274712085724
            ],
            "speed_kmh": 9.519317760576572,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.8270874023438,
                        "y": 3421.1904296875,
                        "z": 370.37603759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.4765625,
                        "y": 3272.710205078125,
                        "z": 368.2464904785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.185168266296387,
                "transform": {
                    "location": {
                        "x": 966.8685913085938,
                        "y": 3382.47314453125,
                        "z": 370.01361083984375
                    },
                    "rotation": {
                        "roll": -0.0008239412563852966,
                        "pitch": -0.6293267607688904,
                        "yaw": -80.795166015625
                    }
                },
                "velocity": {
                    "x": 1.144861102104187,
                    "y": -7.092939376831055,
                    "z": -0.07838831841945648
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080814361572266,
                "transform": {
                    "location": {
                        "x": 970.5274047851562,
                        "y": 3380.18115234375,
                        "z": 369.984375
                    },
                    "rotation": {
                        "roll": -0.00042725936509668827,
                        "pitch": -0.628848671913147,
                        "yaw": -80.82251739501953
                    }
                },
                "velocity": {
                    "x": 1.288678526878357,
                    "y": -7.97691011428833,
                    "z": -0.08815067261457443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.771233558654785,
                "transform": {
                    "location": {
                        "x": 974.8345336914062,
                        "y": 3310.0400390625,
                        "z": 369.042724609375
                    },
                    "rotation": {
                        "roll": -0.01617438532412052,
                        "pitch": 0.9797974228858948,
                        "yaw": 97.5555191040039
                    }
                },
                "velocity": {
                    "x": -1.1656558513641357,
                    "y": 8.692062377929688,
                    "z": 0.15438780188560486
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059652328491211,
                "transform": {
                    "location": {
                        "x": 977.0641479492188,
                        "y": 3339.567626953125,
                        "z": 369.4699401855469
                    },
                    "rotation": {
                        "roll": 0.0012322607217356563,
                        "pitch": -0.838740348815918,
                        "yaw": -80.87168884277344
                    }
                },
                "velocity": {
                    "x": 1.2799872159957886,
                    "y": -7.956475734710693,
                    "z": -0.1187891960144043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013080596923828,
                "transform": {
                    "location": {
                        "x": 973.8182373046875,
                        "y": 3339.28515625,
                        "z": 369.47808837890625
                    },
                    "rotation": {
                        "roll": -0.0004883020301349461,
                        "pitch": -0.8218629360198975,
                        "yaw": -80.85584259033203
                    }
                },
                "velocity": {
                    "x": 1.273289680480957,
                    "y": -7.910400867462158,
                    "z": -0.11723767220973969
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.710206031799316,
                "transform": {
                    "location": {
                        "x": 971.8333129882812,
                        "y": 3329.881591796875,
                        "z": 369.337646484375
                    },
                    "rotation": {
                        "roll": -0.005920343101024628,
                        "pitch": 0.6745836138725281,
                        "yaw": 99.08808135986328
                    }
                },
                "velocity": {
                    "x": -1.3762452602386475,
                    "y": 8.599699020385742,
                    "z": 0.1371304839849472
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.053122520446777,
                "transform": {
                    "location": {
                        "x": 982.9464111328125,
                        "y": 3298.872314453125,
                        "z": 368.78826904296875
                    },
                    "rotation": {
                        "roll": 0.021935302764177322,
                        "pitch": -1.1007053852081299,
                        "yaw": -83.7529525756836
                    }
                },
                "velocity": {
                    "x": 0.867816150188446,
                    "y": -8.004737854003906,
                    "z": -0.15441687405109406
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05294418334961,
                "transform": {
                    "location": {
                        "x": 979.7342529296875,
                        "y": 3298.35205078125,
                        "z": 368.7849426269531
                    },
                    "rotation": {
                        "roll": 0.02230623923242092,
                        "pitch": -1.1090655326843262,
                        "yaw": -83.7558822631836
                    }
                },
                "velocity": {
                    "x": 0.867385983467102,
                    "y": -8.004589080810547,
                    "z": -0.15527738630771637
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.2618408203125,
                        "y": 3425.47705078125,
                        "z": 370.39312744140625
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.211604118347168,
                "transform": {
                    "location": {
                        "x": 977.163330078125,
                        "y": 3289.302734375,
                        "z": 368.60894775390625
                    },
                    "rotation": {
                        "roll": -0.024566637352108955,
                        "pitch": 1.1995792388916016,
                        "yaw": 95.08627319335938
                    }
                },
                "velocity": {
                    "x": -0.8229483366012573,
                    "y": 9.172799110412598,
                    "z": 0.1901489943265915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.246841430664062,
                "transform": {
                    "location": {
                        "x": 968.5568237304688,
                        "y": 3350.260498046875,
                        "z": 369.63385009765625
                    },
                    "rotation": {
                        "roll": -0.0011596347903832793,
                        "pitch": 0.858500063419342,
                        "yaw": 99.12901306152344
                    }
                },
                "velocity": {
                    "x": -1.3101073503494263,
                    "y": 8.141401290893555,
                    "z": 0.10763475298881531
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.967219352722168,
                "transform": {
                    "location": {
                        "x": 965.5488891601562,
                        "y": 3368.951416015625,
                        "z": 369.87152099609375
                    },
                    "rotation": {
                        "roll": 0.00034996317117474973,
                        "pitch": 0.6526792049407959,
                        "yaw": 99.15029907226562
                    }
                },
                "velocity": {
                    "x": -1.2643235921859741,
                    "y": 7.865734577178955,
                    "z": 0.09102531522512436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.0270278453826904,
                "transform": {
                    "location": {
                        "x": 954.2422485351562,
                        "y": 3413.760009765625,
                        "z": 370.2928161621094
                    },
                    "rotation": {
                        "roll": -9.156075975624844e-05,
                        "pitch": 0.12364690750837326,
                        "yaw": 99.1418228149414
                    }
                },
                "velocity": {
                    "x": -0.4813210666179657,
                    "y": 2.988431215286255,
                    "z": 0.02250845916569233
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.6442549228668213,
                "transform": {
                    "location": {
                        "x": 955.7109375,
                        "y": 3404.635498046875,
                        "z": 370.2293701171875
                    },
                    "rotation": {
                        "roll": 0.0025424782652407885,
                        "pitch": 0.7774599194526672,
                        "yaw": 99.14263916015625
                    }
                },
                "velocity": {
                    "x": -0.4202118515968323,
                    "y": 2.6105644702911377,
                    "z": 0.021431274712085724
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1631942242383957,
        "expert_target_speed": 7.497971765563374,
        "target_point": [
            43.791382385294604,
            0.2821717023435566
        ],
        "target_point_next": [
            94.79114510893305,
            0.417105435369189
        ]
    },
    "195": {
        "acceleration": [
            -0.17084598541259766,
            1.0011100769042969,
            0.018616169691085815
        ],
        "angular_velocity": [
            0.218339741230011,
            0.07693366706371307,
            0.13748732209205627
        ],
        "forward_vector": [
            -0.15723298490047455,
            0.98746258020401,
            0.013979097828269005
        ],
        "right_vector": [
            -0.9875587821006775,
            -0.15725035965442657,
            0.00014539435505867004
        ],
        "location": [
            965.4166259765625,
            3351.015625,
            369.6504211425781
        ],
        "rotation": [
            -0.00833129696547985,
            0.8009694218635559,
            99.0472183227539
        ],
        "velocity": [
            -1.0588847398757935,
            6.633203983306885,
            0.08887062221765518
        ],
        "speed": 6.717189291400098,
        "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": 55.17939376831055,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.6019897460938,
                3405.31201171875,
                370.2342224121094
            ],
            "velocity": [
                -0.45149001479148865,
                2.8046886920928955,
                0.0211650263518095
            ],
            "speed_kmh": 10.227149420708804,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.5831909179688,
                        "y": 3420.892822265625,
                        "z": 370.3565673828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.723249435424805,
                "transform": {
                    "location": {
                        "x": 964.140625,
                        "y": 3419.247802734375,
                        "z": 370.3497619628906
                    },
                    "rotation": {
                        "roll": -0.009857168421149254,
                        "pitch": -0.6137676239013672,
                        "yaw": -80.81004333496094
                    }
                },
                "velocity": {
                    "x": 1.090349555015564,
                    "y": -6.633012771606445,
                    "z": -0.12790852785110474
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.3418579101562,
                        "y": 3275.1064453125,
                        "z": 368.3009948730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.787020683288574,
                "transform": {
                    "location": {
                        "x": 967.1715698242188,
                        "y": 3380.5966796875,
                        "z": 369.9925231933594
                    },
                    "rotation": {
                        "roll": 0.00045546048204414546,
                        "pitch": -0.6082488298416138,
                        "yaw": -80.87525939941406
                    }
                },
                "velocity": {
                    "x": 1.2369582653045654,
                    "y": -7.687692642211914,
                    "z": -0.08369637280702591
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043170928955078,
                "transform": {
                    "location": {
                        "x": 970.8480834960938,
                        "y": 3378.1943359375,
                        "z": 369.96234130859375
                    },
                    "rotation": {
                        "roll": -0.00015256786718964577,
                        "pitch": -0.6291218400001526,
                        "yaw": -80.83219909667969
                    }
                },
                "velocity": {
                    "x": 1.2806559801101685,
                    "y": -7.940077781677246,
                    "z": -0.08768113702535629
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.605962753295898,
                "transform": {
                    "location": {
                        "x": 974.5232543945312,
                        "y": 3312.331787109375,
                        "z": 369.0819396972656
                    },
                    "rotation": {
                        "roll": -0.029876703396439552,
                        "pitch": 1.0569648742675781,
                        "yaw": 97.81063079833984
                    }
                },
                "velocity": {
                    "x": -1.3520883321762085,
                    "y": 9.508888244628906,
                    "z": 0.1656007319688797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058121681213379,
                "transform": {
                    "location": {
                        "x": 977.3843383789062,
                        "y": 3337.579345703125,
                        "z": 369.43988037109375
                    },
                    "rotation": {
                        "roll": -0.000457811082014814,
                        "pitch": -0.8882387280464172,
                        "yaw": -80.83611297607422
                    }
                },
                "velocity": {
                    "x": 1.2805966138839722,
                    "y": -7.9548163414001465,
                    "z": -0.11958497762680054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.072604179382324,
                "transform": {
                    "location": {
                        "x": 974.1376953125,
                        "y": 3337.30029296875,
                        "z": 369.447998046875
                    },
                    "rotation": {
                        "roll": -0.00039673008723184466,
                        "pitch": -0.8679462671279907,
                        "yaw": -80.8592300415039
                    }
                },
                "velocity": {
                    "x": 1.2821979522705078,
                    "y": -7.969172954559326,
                    "z": -0.12321935594081879
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.304426193237305,
                "transform": {
                    "location": {
                        "x": 971.5040283203125,
                        "y": 3331.9375,
                        "z": 369.3699645996094
                    },
                    "rotation": {
                        "roll": -0.00372313242405653,
                        "pitch": 0.7661832571029663,
                        "yaw": 99.10250091552734
                    }
                },
                "velocity": {
                    "x": -1.3145463466644287,
                    "y": 8.198734283447266,
                    "z": 0.12736377120018005
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047135353088379,
                "transform": {
                    "location": {
                        "x": 983.1618041992188,
                        "y": 3296.8720703125,
                        "z": 368.7496032714844
                    },
                    "rotation": {
                        "roll": 0.008712602779269218,
                        "pitch": -1.1175827980041504,
                        "yaw": -83.85985565185547
                    }
                },
                "velocity": {
                    "x": 0.8569115400314331,
                    "y": -7.999897480010986,
                    "z": -0.15403632819652557
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047309875488281,
                "transform": {
                    "location": {
                        "x": 979.9484252929688,
                        "y": 3296.3515625,
                        "z": 368.7460021972656
                    },
                    "rotation": {
                        "roll": 0.026923395693302155,
                        "pitch": -1.1254239082336426,
                        "yaw": -83.91136169433594
                    }
                },
                "velocity": {
                    "x": 0.8258678913116455,
                    "y": -8.003318786621094,
                    "z": -0.1550006866455078
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.1495361328125,
                        "y": 3426.17333984375,
                        "z": 370.3970947265625
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.220507621765137,
                "transform": {
                    "location": {
                        "x": 976.9426879882812,
                        "y": 3291.725830078125,
                        "z": 368.658935546875
                    },
                    "rotation": {
                        "roll": -0.015991106629371643,
                        "pitch": 1.295522928237915,
                        "yaw": 95.24115753173828
                    }
                },
                "velocity": {
                    "x": -0.9343500137329102,
                    "y": 10.175610542297363,
                    "z": 0.20665444433689117
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.834994316101074,
                "transform": {
                    "location": {
                        "x": 968.239501953125,
                        "y": 3352.233642578125,
                        "z": 369.6607666015625
                    },
                    "rotation": {
                        "roll": -0.0012511895038187504,
                        "pitch": 0.6910170316696167,
                        "yaw": 99.15391540527344
                    }
                },
                "velocity": {
                    "x": -1.2442626953125,
                    "y": 7.734874248504639,
                    "z": 0.10327354073524475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.086499214172363,
                "transform": {
                    "location": {
                        "x": 965.2297973632812,
                        "y": 3370.935302734375,
                        "z": 369.8948059082031
                    },
                    "rotation": {
                        "roll": 0.0007184207206591964,
                        "pitch": 0.6779440641403198,
                        "yaw": 99.12664031982422
                    }
                },
                "velocity": {
                    "x": -1.2838910818099976,
                    "y": 7.983400821685791,
                    "z": 0.09164527803659439
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1984827518463135,
                "transform": {
                    "location": {
                        "x": 954.1183471679688,
                        "y": 3414.530029296875,
                        "z": 370.29803466796875
                    },
                    "rotation": {
                        "roll": 0.0017387805273756385,
                        "pitch": -0.0021993208210915327,
                        "yaw": 99.14129638671875
                    }
                },
                "velocity": {
                    "x": -0.508239209651947,
                    "y": 3.157776117324829,
                    "z": 0.02084852196276188
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.8408749103546143,
                "transform": {
                    "location": {
                        "x": 955.6019897460938,
                        "y": 3405.31201171875,
                        "z": 370.2342224121094
                    },
                    "rotation": {
                        "roll": -0.001953156664967537,
                        "pitch": 0.5688318014144897,
                        "yaw": 99.14326477050781
                    }
                },
                "velocity": {
                    "x": -0.45149001479148865,
                    "y": 2.8046886920928955,
                    "z": 0.0211650263518095
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16245487332344055,
        "expert_target_speed": 7.596077961800921,
        "target_point": [
            42.12862035331503,
            0.2391473602181211
        ],
        "target_point_next": [
            93.12849109673864,
            0.32393612016755746
        ]
    },
    "200": {
        "acceleration": [
            -0.1808786392211914,
            1.0419464111328125,
            0.03785669803619385
        ],
        "angular_velocity": [
            0.20840589702129364,
            0.08954835683107376,
            0.12074167281389236
        ],
        "forward_vector": [
            -0.15776179730892181,
            0.987362802028656,
            0.015030056238174438
        ],
        "right_vector": [
            -0.9874740242958069,
            -0.15778137743473053,
            0.00011823092791019008
        ],
        "location": [
            965.146484375,
            3352.7060546875,
            369.6727600097656
        ],
        "rotation": [
            -0.0067748986184597015,
            0.8611912131309509,
            99.07804107666016
        ],
        "velocity": [
            -1.105061650276184,
            6.90187931060791,
            0.09294847398996353
        ],
        "speed": 6.989785352148423,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.20400619506836,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.4850463867188,
                3406.0390625,
                370.23956298828125
            ],
            "velocity": [
                -0.48272189497947693,
                3.003406047821045,
                0.021949434652924538
            ],
            "speed_kmh": 10.951310114039414,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.632332801818848,
                "transform": {
                    "location": {
                        "x": 960.8734741210938,
                        "y": 3419.126220703125,
                        "z": 370.330810546875
                    },
                    "rotation": {
                        "roll": -0.009643558412790298,
                        "pitch": -0.4658188819885254,
                        "yaw": -80.65098571777344
                    }
                },
                "velocity": {
                    "x": 1.1118708848953247,
                    "y": -6.538156032562256,
                    "z": -0.06400066614151001
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.946596622467041,
                "transform": {
                    "location": {
                        "x": 964.4254760742188,
                        "y": 3417.560791015625,
                        "z": 370.3262939453125
                    },
                    "rotation": {
                        "roll": -0.019500695168972015,
                        "pitch": -0.4542485475540161,
                        "yaw": -80.41719818115234
                    }
                },
                "velocity": {
                    "x": 1.1707204580307007,
                    "y": -6.84688663482666,
                    "z": -0.06903029978275299
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.1884765625,
                        "y": 3277.60546875,
                        "z": 368.357177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2448360919952393,
                        "yaw": 94.13947296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.679173469543457,
                "transform": {
                    "location": {
                        "x": 967.509521484375,
                        "y": 3378.493896484375,
                        "z": 369.96923828125
                    },
                    "rotation": {
                        "roll": -0.000549353426322341,
                        "pitch": -0.6002506613731384,
                        "yaw": -80.81309509277344
                    }
                },
                "velocity": {
                    "x": 1.3805570602416992,
                    "y": -8.56813907623291,
                    "z": -0.09542980790138245
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.100635528564453,
                "transform": {
                    "location": {
                        "x": 971.1696166992188,
                        "y": 3376.200927734375,
                        "z": 369.9396057128906
                    },
                    "rotation": {
                        "roll": 0.000196994369616732,
                        "pitch": -0.652706503868103,
                        "yaw": -80.8441390991211
                    }
                },
                "velocity": {
                    "x": 1.2886379957199097,
                    "y": -7.996945858001709,
                    "z": -0.09252405911684036
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.612218856811523,
                "transform": {
                    "location": {
                        "x": 974.2005004882812,
                        "y": 3314.594970703125,
                        "z": 369.1219482421875
                    },
                    "rotation": {
                        "roll": -0.015106246806681156,
                        "pitch": 0.9078208804130554,
                        "yaw": 98.18783569335938
                    }
                },
                "velocity": {
                    "x": -1.2386865615844727,
                    "y": 8.521438598632812,
                    "z": 0.14507783949375153
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058364868164062,
                "transform": {
                    "location": {
                        "x": 977.7044067382812,
                        "y": 3335.590576171875,
                        "z": 369.4089050292969
                    },
                    "rotation": {
                        "roll": 0.00042533784289844334,
                        "pitch": -0.894864022731781,
                        "yaw": -80.86921691894531
                    }
                },
                "velocity": {
                    "x": 1.2809113264083862,
                    "y": -7.954916954040527,
                    "z": -0.12568747997283936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.012031555175781,
                "transform": {
                    "location": {
                        "x": 974.4570922851562,
                        "y": 3335.31591796875,
                        "z": 369.4172058105469
                    },
                    "rotation": {
                        "roll": -0.000457757618278265,
                        "pitch": -0.8874805569648743,
                        "yaw": -80.85636138916016
                    }
                },
                "velocity": {
                    "x": 1.272984266281128,
                    "y": -7.909296035766602,
                    "z": -0.1232820451259613
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.139548301696777,
                "transform": {
                    "location": {
                        "x": 971.1577758789062,
                        "y": 3334.0947265625,
                        "z": 369.4037170410156
                    },
                    "rotation": {
                        "roll": -0.0029296937864273787,
                        "pitch": 1.0039831399917603,
                        "yaw": 99.12020874023438
                    }
                },
                "velocity": {
                    "x": -1.4486615657806396,
                    "y": 9.022909164428711,
                    "z": 0.14084544777870178
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.1924662590026855,
                "transform": {
                    "location": {
                        "x": 983.3468627929688,
                        "y": 3294.951171875,
                        "z": 368.7119140625
                    },
                    "rotation": {
                        "roll": 0.056665919721126556,
                        "pitch": -1.267881155014038,
                        "yaw": -84.53890228271484
                    }
                },
                "velocity": {
                    "x": 0.6573523283004761,
                    "y": -7.160984992980957,
                    "z": -0.14054830372333527
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.052275657653809,
                "transform": {
                    "location": {
                        "x": 980.1495971679688,
                        "y": 3294.349609375,
                        "z": 368.70648193359375
                    },
                    "rotation": {
                        "roll": 0.027714211493730545,
                        "pitch": -1.143701434135437,
                        "yaw": -84.27799987792969
                    }
                },
                "velocity": {
                    "x": 0.7898747324943542,
                    "y": -8.011856079101562,
                    "z": -0.1594100296497345
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.0193481445312,
                        "y": 3426.9814453125,
                        "z": 370.4017028808594
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2623291015625,
                        "y": 3437.89990234375,
                        "z": 370.6091613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.368124961853027,
                "transform": {
                    "location": {
                        "x": 976.7025756835938,
                        "y": 3294.1943359375,
                        "z": 368.70849609375
                    },
                    "rotation": {
                        "roll": -0.025909429416060448,
                        "pitch": 1.0799962282180786,
                        "yaw": 95.67308807373047
                    }
                },
                "velocity": {
                    "x": -0.9308770298957825,
                    "y": 9.3198823928833,
                    "z": 0.18714539706707
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.094391822814941,
                "transform": {
                    "location": {
                        "x": 967.9241333007812,
                        "y": 3354.193603515625,
                        "z": 369.68658447265625
                    },
                    "rotation": {
                        "roll": -0.0005798219935968518,
                        "pitch": 0.7992891669273376,
                        "yaw": 99.12674713134766
                    }
                },
                "velocity": {
                    "x": -1.28458571434021,
                    "y": 7.9911017417907715,
                    "z": 0.10637250542640686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.034676551818848,
                "transform": {
                    "location": {
                        "x": 964.9093627929688,
                        "y": 3372.92626953125,
                        "z": 369.9180908203125
                    },
                    "rotation": {
                        "roll": 4.5439817768055946e-05,
                        "pitch": 0.6644954085350037,
                        "yaw": 99.16217041015625
                    }
                },
                "velocity": {
                    "x": -1.2775704860687256,
                    "y": 7.931917667388916,
                    "z": 0.09230127185583115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.177165985107422,
                "transform": {
                    "location": {
                        "x": 953.9926147460938,
                        "y": 3415.311279296875,
                        "z": 370.3033752441406
                    },
                    "rotation": {
                        "roll": 0.0004341741732787341,
                        "pitch": 0.0656859278678894,
                        "yaw": 99.14166259765625
                    }
                },
                "velocity": {
                    "x": -0.5049285292625427,
                    "y": 3.13671875,
                    "z": 0.020638998597860336
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.0420305728912354,
                "transform": {
                    "location": {
                        "x": 955.4850463867188,
                        "y": 3406.0390625,
                        "z": 370.23956298828125
                    },
                    "rotation": {
                        "roll": 2.8522634238470346e-05,
                        "pitch": 0.53871750831604,
                        "yaw": 99.14222717285156
                    }
                },
                "velocity": {
                    "x": -0.48272189497947693,
                    "y": 3.003406047821045,
                    "z": 0.021949434652924538
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1573847383260727,
        "expert_target_speed": 7.822073768470169,
        "target_point": [
            40.41686399100062,
            0.2164645175561839
        ],
        "target_point_next": [
            91.41677293529257,
            0.27384616670140716
        ]
    },
    "205": {
        "acceleration": [
            -0.27447938919067383,
            1.831827163696289,
            -0.049209147691726685
        ],
        "angular_velocity": [
            0.1156696081161499,
            -0.0020696588326245546,
            -0.11125288903713226
        ],
        "forward_vector": [
            -0.1577705293893814,
            0.9873471856117249,
            0.01593891717493534
        ],
        "right_vector": [
            -0.9874725937843323,
            -0.15779060125350952,
            1.597218101778708e-06
        ],
        "location": [
            964.8627319335938,
            3354.48095703125,
            369.69635009765625
        ],
        "rotation": [
            -9.152548591373488e-05,
            0.9132713675498962,
            99.07867431640625
        ],
        "velocity": [
            -1.1622284650802612,
            7.284481048583984,
            0.09548837691545486
        ],
        "speed": 7.376614342109939,
        "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": 53.19130325317383,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.3603515625,
                3406.813720703125,
                370.2453308105469
            ],
            "velocity": [
                -0.5069721341133118,
                3.1512322425842285,
                0.022330015897750854
            ],
            "speed_kmh": 11.490590973191697,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.703053951263428,
                "transform": {
                    "location": {
                        "x": 961.1531982421875,
                        "y": 3417.481689453125,
                        "z": 370.3169860839844
                    },
                    "rotation": {
                        "roll": -0.00775144575163722,
                        "pitch": -0.40628013014793396,
                        "yaw": -80.36197662353516
                    }
                },
                "velocity": {
                    "x": 1.136940836906433,
                    "y": -6.605749130249023,
                    "z": -0.04877079278230667
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.7304253578186035,
                "transform": {
                    "location": {
                        "x": 964.7159423828125,
                        "y": 3415.877197265625,
                        "z": 370.3121643066406
                    },
                    "rotation": {
                        "roll": -0.01593022048473358,
                        "pitch": -0.41497495770454407,
                        "yaw": -80.21033477783203
                    }
                },
                "velocity": {
                    "x": 1.1500030755996704,
                    "y": -6.631247520446777,
                    "z": -0.05173763260245323
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.0411987304688,
                        "y": 3279.8173828125,
                        "z": 368.4063720703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2448360919952393,
                        "yaw": 94.13947296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.214946746826172,
                "transform": {
                    "location": {
                        "x": 967.8436279296875,
                        "y": 3376.419677734375,
                        "z": 369.9461975097656
                    },
                    "rotation": {
                        "roll": 7.430982077494264e-05,
                        "pitch": -0.6538949608802795,
                        "yaw": -80.84028625488281
                    }
                },
                "velocity": {
                    "x": 1.3045077323913574,
                    "y": -8.110163688659668,
                    "z": -0.09406081587076187
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047229766845703,
                "transform": {
                    "location": {
                        "x": 971.4906005859375,
                        "y": 3374.208740234375,
                        "z": 369.9164733886719
                    },
                    "rotation": {
                        "roll": -0.0006409070920199156,
                        "pitch": -0.6662917733192444,
                        "yaw": -80.84870910644531
                    }
                },
                "velocity": {
                    "x": 1.2785143852233887,
                    "y": -7.9444804191589355,
                    "z": -0.09244900196790695
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.47671890258789,
                "transform": {
                    "location": {
                        "x": 973.8973388671875,
                        "y": 3316.673583984375,
                        "z": 369.15679931640625
                    },
                    "rotation": {
                        "roll": -0.01901240088045597,
                        "pitch": 0.9227175116539001,
                        "yaw": 98.34645080566406
                    }
                },
                "velocity": {
                    "x": -1.2633191347122192,
                    "y": 8.380902290344238,
                    "z": 0.13877250254154205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057939529418945,
                "transform": {
                    "location": {
                        "x": 978.024658203125,
                        "y": 3333.601806640625,
                        "z": 369.3775939941406
                    },
                    "rotation": {
                        "roll": 0.0003463005123194307,
                        "pitch": -0.8917221426963806,
                        "yaw": -80.83566284179688
                    }
                },
                "velocity": {
                    "x": 1.2807011604309082,
                    "y": -7.954497337341309,
                    "z": -0.12714748084545135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.072641372680664,
                "transform": {
                    "location": {
                        "x": 974.776611328125,
                        "y": 3333.33056640625,
                        "z": 369.38604736328125
                    },
                    "rotation": {
                        "roll": 0.0007206707377918065,
                        "pitch": -0.8843386769294739,
                        "yaw": -80.85626983642578
                    }
                },
                "velocity": {
                    "x": 1.2827187776565552,
                    "y": -7.969110012054443,
                    "z": -0.12431368231773376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.310306549072266,
                "transform": {
                    "location": {
                        "x": 970.7775268554688,
                        "y": 3336.46044921875,
                        "z": 369.4407653808594
                    },
                    "rotation": {
                        "roll": -0.0025329950731247663,
                        "pitch": 1.1260112524032593,
                        "yaw": 99.12982177734375
                    }
                },
                "velocity": {
                    "x": -1.6357554197311401,
                    "y": 10.178508758544922,
                    "z": 0.15710049867630005
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0176382064819336,
                "transform": {
                    "location": {
                        "x": 983.4592895507812,
                        "y": 3293.708740234375,
                        "z": 368.6869201660156
                    },
                    "rotation": {
                        "roll": 0.025493556633591652,
                        "pitch": -2.00219464302063,
                        "yaw": -84.84920501708984
                    }
                },
                "velocity": {
                    "x": 0.1798216849565506,
                    "y": -2.0092034339904785,
                    "z": -0.04036981984972954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04903507232666,
                "transform": {
                    "location": {
                        "x": 980.344970703125,
                        "y": 3292.34716796875,
                        "z": 368.66632080078125
                    },
                    "rotation": {
                        "roll": 0.01455968152731657,
                        "pitch": -1.1634202003479004,
                        "yaw": -84.4369125366211
                    }
                },
                "velocity": {
                    "x": 0.7751820087432861,
                    "y": -8.00998592376709,
                    "z": -0.16182231903076172
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.9180908203125,
                        "y": 3427.61083984375,
                        "z": 370.4053039550781
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2506713867188,
                        "y": 3437.97119140625,
                        "z": 370.60107421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.521384239196777,
                "transform": {
                    "location": {
                        "x": 976.4810180664062,
                        "y": 3296.37451171875,
                        "z": 368.751708984375
                    },
                    "rotation": {
                        "roll": -0.018585223704576492,
                        "pitch": 1.011407494544983,
                        "yaw": 95.84963989257812
                    }
                },
                "velocity": {
                    "x": -0.8708440065383911,
                    "y": 8.47514533996582,
                    "z": 0.1659170538187027
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.047368049621582,
                "transform": {
                    "location": {
                        "x": 967.6021118164062,
                        "y": 3356.19580078125,
                        "z": 369.71282958984375
                    },
                    "rotation": {
                        "roll": 0.0005646077333949506,
                        "pitch": 0.7621670961380005,
                        "yaw": 99.151611328125
                    }
                },
                "velocity": {
                    "x": -1.2778466939926147,
                    "y": 7.944608688354492,
                    "z": 0.10220672190189362
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.035321235656738,
                "transform": {
                    "location": {
                        "x": 964.590576171875,
                        "y": 3374.90673828125,
                        "z": 369.9411315917969
                    },
                    "rotation": {
                        "roll": -0.0014037772780284286,
                        "pitch": 0.661032497882843,
                        "yaw": 99.12842559814453
                    }
                },
                "velocity": {
                    "x": -1.27618408203125,
                    "y": 7.93280553817749,
                    "z": 0.09130103886127472
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1663012504577637,
                "transform": {
                    "location": {
                        "x": 953.8668823242188,
                        "y": 3416.0927734375,
                        "z": 370.30877685546875
                    },
                    "rotation": {
                        "roll": 0.0008790542487986386,
                        "pitch": 0.08188030123710632,
                        "yaw": 99.1414566040039
                    }
                },
                "velocity": {
                    "x": -0.5029133558273315,
                    "y": 3.1260390281677246,
                    "z": 0.020524080842733383
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.19183087348938,
                "transform": {
                    "location": {
                        "x": 955.3603515625,
                        "y": 3406.813720703125,
                        "z": 370.2453308105469
                    },
                    "rotation": {
                        "roll": -0.001403802540153265,
                        "pitch": 0.5527398586273193,
                        "yaw": 99.14241790771484
                    }
                },
                "velocity": {
                    "x": -0.5069721341133118,
                    "y": 3.1512322425842285,
                    "z": 0.022330015897750854
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15596921741962433,
        "expert_target_speed": 8.13514442693825,
        "target_point": [
            38.61942552228141,
            0.21587636359146067
        ],
        "target_point_next": [
            89.61933510637142,
            0.27268652441932595
        ]
    },
    "210": {
        "acceleration": [
            -0.8361601829528809,
            1.3288116455078125,
            0.010504871606826782
        ],
        "angular_velocity": [
            -0.220779150724411,
            0.510757327079773,
            2.077122211456299
        ],
        "forward_vector": [
            -0.16008110344409943,
            0.9869793653488159,
            0.015677165240049362
        ],
        "right_vector": [
            -0.987098217010498,
            -0.16011376678943634,
            0.0008425204432569444
        ],
        "location": [
            964.560546875,
            3356.350830078125,
            369.7203674316406
        ],
        "rotation": [
            -0.0482788048684597,
            0.8982722759246826,
            99.2127456665039
        ],
        "velocity": [
            -1.281788945198059,
            7.662931442260742,
            0.09665735065937042
        ],
        "speed": 7.769395162354677,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.087806701660156,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.2347412109375,
                3407.59423828125,
                370.25128173828125
            ],
            "velocity": [
                -0.5031672120094299,
                3.127042055130005,
                0.021779974922537804
            ],
            "speed_kmh": 11.402424539601412,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.946145057678223,
                "transform": {
                    "location": {
                        "x": 961.4292602539062,
                        "y": 3415.875,
                        "z": 370.3058166503906
                    },
                    "rotation": {
                        "roll": -0.005798367317765951,
                        "pitch": -0.4312717914581299,
                        "yaw": -80.25587463378906
                    }
                },
                "velocity": {
                    "x": 1.011581540107727,
                    "y": -5.8593268394470215,
                    "z": -0.040422022342681885
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.794193267822266,
                "transform": {
                    "location": {
                        "x": 964.974365234375,
                        "y": 3414.356689453125,
                        "z": 370.30072021484375
                    },
                    "rotation": {
                        "roll": 0.0005279751494526863,
                        "pitch": -0.5340251326560974,
                        "yaw": -80.3387451171875
                    }
                },
                "velocity": {
                    "x": 0.965529203414917,
                    "y": -5.713033199310303,
                    "z": -0.04097449779510498
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.8890380859375,
                        "y": 3281.99365234375,
                        "z": 368.45428466796875
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.936520576477051,
                "transform": {
                    "location": {
                        "x": 968.16552734375,
                        "y": 3374.420166015625,
                        "z": 369.9232482910156
                    },
                    "rotation": {
                        "roll": 0.0007821642793715,
                        "pitch": -0.6752256155014038,
                        "yaw": -80.86917877197266
                    }
                },
                "velocity": {
                    "x": 1.2607771158218384,
                    "y": -7.835216522216797,
                    "z": -0.09048105031251907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088406562805176,
                "transform": {
                    "location": {
                        "x": 971.8109741210938,
                        "y": 3372.2177734375,
                        "z": 369.8931579589844
                    },
                    "rotation": {
                        "roll": -0.0007019023178145289,
                        "pitch": -0.6636006236076355,
                        "yaw": -80.85933685302734
                    }
                },
                "velocity": {
                    "x": 1.2839666604995728,
                    "y": -7.9853081703186035,
                    "z": -0.09272406995296478
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.550732612609863,
                "transform": {
                    "location": {
                        "x": 973.5604248046875,
                        "y": 3318.894287109375,
                        "z": 369.19268798828125
                    },
                    "rotation": {
                        "roll": -0.014709518291056156,
                        "pitch": 1.0147202014923096,
                        "yaw": 98.64918518066406
                    }
                },
                "velocity": {
                    "x": -1.4534226655960083,
                    "y": 9.438236236572266,
                    "z": 0.15410637855529785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059438705444336,
                "transform": {
                    "location": {
                        "x": 978.3449096679688,
                        "y": 3331.61279296875,
                        "z": 369.3463439941406
                    },
                    "rotation": {
                        "roll": 0.0012977061560377479,
                        "pitch": -0.8915650248527527,
                        "yaw": -80.86676025390625
                    }
                },
                "velocity": {
                    "x": 1.2806402444839478,
                    "y": -7.9560770988464355,
                    "z": -0.12388329952955246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013011932373047,
                "transform": {
                    "location": {
                        "x": 975.0961303710938,
                        "y": 3331.345947265625,
                        "z": 369.3549499511719
                    },
                    "rotation": {
                        "roll": -0.0013122454984113574,
                        "pitch": -0.8821666836738586,
                        "yaw": -80.85407257080078
                    }
                },
                "velocity": {
                    "x": 1.27349054813385,
                    "y": -7.910212993621826,
                    "z": -0.12294355034828186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.634799003601074,
                "transform": {
                    "location": {
                        "x": 970.3771362304688,
                        "y": 3338.950439453125,
                        "z": 369.4783020019531
                    },
                    "rotation": {
                        "roll": -0.0010680942796170712,
                        "pitch": 0.797731876373291,
                        "yaw": 99.13829040527344
                    }
                },
                "velocity": {
                    "x": -1.5309505462646484,
                    "y": 9.511313438415527,
                    "z": 0.14305314421653748
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.010098038241267204,
                "transform": {
                    "location": {
                        "x": 983.465576171875,
                        "y": 3293.639404296875,
                        "z": 368.6855773925781
                    },
                    "rotation": {
                        "roll": 0.0121505381539464,
                        "pitch": -1.7158117294311523,
                        "yaw": -84.86161804199219
                    }
                },
                "velocity": {
                    "x": -0.0010312092490494251,
                    "y": 0.009894710965454578,
                    "z": 0.0017325314693152905
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.051701545715332,
                "transform": {
                    "location": {
                        "x": 980.53271484375,
                        "y": 3290.343994140625,
                        "z": 368.6256103515625
                    },
                    "rotation": {
                        "roll": 0.03324218839406967,
                        "pitch": -1.177606463432312,
                        "yaw": -84.69731140136719
                    }
                },
                "velocity": {
                    "x": 0.7216843366622925,
                    "y": -8.017648696899414,
                    "z": -0.1624295711517334
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7994995117188,
                        "y": 3428.3486328125,
                        "z": 370.4095153808594
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1853637695312,
                        "y": 3438.377197265625,
                        "z": 370.5552978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.23342514038086,
                "transform": {
                    "location": {
                        "x": 976.2456665039062,
                        "y": 3298.5673828125,
                        "z": 368.7947692871094
                    },
                    "rotation": {
                        "roll": -0.028900137171149254,
                        "pitch": 1.1660088300704956,
                        "yaw": 96.2200698852539
                    }
                },
                "velocity": {
                    "x": -1.0129358768463135,
                    "y": 9.175959587097168,
                    "z": 0.17850631475448608
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9616618156433105,
                "transform": {
                    "location": {
                        "x": 967.2855224609375,
                        "y": 3358.162841796875,
                        "z": 369.7380676269531
                    },
                    "rotation": {
                        "roll": 3.972993363277055e-05,
                        "pitch": 0.678026020526886,
                        "yaw": 99.12765502929688
                    }
                },
                "velocity": {
                    "x": -1.264748215675354,
                    "y": 7.859963893890381,
                    "z": 0.09716138988733292
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05387020111084,
                "transform": {
                    "location": {
                        "x": 964.2708129882812,
                        "y": 3376.893310546875,
                        "z": 369.96380615234375
                    },
                    "rotation": {
                        "roll": 0.0004965000553056598,
                        "pitch": 0.6370244026184082,
                        "yaw": 99.16126251220703
                    }
                },
                "velocity": {
                    "x": -1.2796458005905151,
                    "y": 7.951037406921387,
                    "z": 0.09127044677734375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1636810302734375,
                "transform": {
                    "location": {
                        "x": 953.7411499023438,
                        "y": 3416.8740234375,
                        "z": 370.3141174316406
                    },
                    "rotation": {
                        "roll": 0.0003268689033575356,
                        "pitch": 0.08308924734592438,
                        "yaw": 99.1419448852539
                    }
                },
                "velocity": {
                    "x": -0.5027214288711548,
                    "y": 3.1234142780303955,
                    "z": 0.02079961821436882
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.167340040206909,
                "transform": {
                    "location": {
                        "x": 955.2347412109375,
                        "y": 3407.59423828125,
                        "z": 370.25128173828125
                    },
                    "rotation": {
                        "roll": 0.0034676254726946354,
                        "pitch": 0.6317309737205505,
                        "yaw": 99.14292907714844
                    }
                },
                "velocity": {
                    "x": -0.5031672120094299,
                    "y": 3.127042055130005,
                    "z": 0.021779974922537804
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1350732147693634,
        "expert_target_speed": 8.443478065361973,
        "target_point": [
            36.72569197212919,
            0.12657553828109247
        ],
        "target_point_next": [
            87.72559484457523,
            0.06402970869211799
        ]
    },
    "215": {
        "acceleration": [
            -1.0117506980895996,
            2.4833106994628906,
            0.0132732093334198
        ],
        "angular_velocity": [
            0.21435002982616425,
            0.2162543684244156,
            3.676429033279419
        ],
        "forward_vector": [
            -0.1743578016757965,
            0.9845537543296814,
            0.015916388481855392
        ],
        "right_vector": [
            -0.9846696257591248,
            -0.17441509664058685,
            0.002274582162499428
        ],
        "location": [
            964.2127075195312,
            3358.329833984375,
            369.7451171875
        ],
        "rotation": [
            -0.130340576171875,
            0.9119804501533508,
            100.04257202148438
        ],
        "velocity": [
            -1.5081106424331665,
            8.17158317565918,
            0.09996030479669571
        ],
        "speed": 8.309582980302702,
        "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": 50.86949920654297,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                955.1090698242188,
                3408.37548828125,
                370.25714111328125
            ],
            "velocity": [
                -0.5019906759262085,
                3.1182899475097656,
                0.021921442821621895
            ],
            "speed_kmh": 11.370648517611494,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.492889881134033,
                "transform": {
                    "location": {
                        "x": 961.6646118164062,
                        "y": 3414.495849609375,
                        "z": 370.29583740234375
                    },
                    "rotation": {
                        "roll": 7.666844612685964e-05,
                        "pitch": -0.4389079213142395,
                        "yaw": -80.32439422607422
                    }
                },
                "velocity": {
                    "x": 0.9063637852668762,
                    "y": -5.417450904846191,
                    "z": -0.03965575248003006
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.0076117515563965,
                "transform": {
                    "location": {
                        "x": 965.2188110351562,
                        "y": 3412.904541015625,
                        "z": 370.29022216796875
                    },
                    "rotation": {
                        "roll": -0.00045776861952617764,
                        "pitch": -0.4246191680431366,
                        "yaw": -80.42906188964844
                    }
                },
                "velocity": {
                    "x": 0.9950395226478577,
                    "y": -5.924460411071777,
                    "z": -0.04536820203065872
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.7028198242188,
                        "y": 3284.404052734375,
                        "z": 368.5061950683594
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.819521427154541,
                "transform": {
                    "location": {
                        "x": 968.4476318359375,
                        "y": 3372.665771484375,
                        "z": 369.90289306640625
                    },
                    "rotation": {
                        "roll": -0.00012209861597511917,
                        "pitch": -0.695279061794281,
                        "yaw": -80.83293914794922
                    }
                },
                "velocity": {
                    "x": 1.0835634469985962,
                    "y": -6.732410907745361,
                    "z": -0.0800604522228241
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.057391166687012,
                "transform": {
                    "location": {
                        "x": 972.1315307617188,
                        "y": 3370.224853515625,
                        "z": 369.8697509765625
                    },
                    "rotation": {
                        "roll": -0.00039671114063821733,
                        "pitch": -0.6631839871406555,
                        "yaw": -80.86277770996094
                    }
                },
                "velocity": {
                    "x": 1.279444694519043,
                    "y": -7.954622745513916,
                    "z": -0.09247218817472458
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.373063087463379,
                "transform": {
                    "location": {
                        "x": 973.1782836914062,
                        "y": 3321.3759765625,
                        "z": 369.2331237792969
                    },
                    "rotation": {
                        "roll": -0.009735151194036007,
                        "pitch": 1.0207444429397583,
                        "yaw": 98.78119659423828
                    }
                },
                "velocity": {
                    "x": -1.5868922472000122,
                    "y": 10.249629974365234,
                    "z": 0.16522449254989624
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058621406555176,
                "transform": {
                    "location": {
                        "x": 978.6650390625,
                        "y": 3329.623779296875,
                        "z": 369.3149108886719
                    },
                    "rotation": {
                        "roll": -0.00039670750265941024,
                        "pitch": -0.906243085861206,
                        "yaw": -80.83777618408203
                    }
                },
                "velocity": {
                    "x": 1.2804926633834839,
                    "y": -7.955224990844727,
                    "z": -0.12691433727741241
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.073152542114258,
                "transform": {
                    "location": {
                        "x": 975.4154663085938,
                        "y": 3329.36083984375,
                        "z": 369.3236999511719
                    },
                    "rotation": {
                        "roll": -0.0007323861354961991,
                        "pitch": -0.8908068537712097,
                        "yaw": -80.86430358886719
                    }
                },
                "velocity": {
                    "x": 1.2790296077728271,
                    "y": -7.970164775848389,
                    "z": -0.12786875665187836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.926600456237793,
                "transform": {
                    "location": {
                        "x": 970.0310668945312,
                        "y": 3341.1015625,
                        "z": 369.5096740722656
                    },
                    "rotation": {
                        "roll": 0.00031022715847939253,
                        "pitch": 0.541271984577179,
                        "yaw": 99.14300537109375
                    }
                },
                "velocity": {
                    "x": -1.2595548629760742,
                    "y": 7.825072288513184,
                    "z": 0.11294876039028168
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003088940866291523,
                "transform": {
                    "location": {
                        "x": 983.4658203125,
                        "y": 3293.636474609375,
                        "z": 368.6856994628906
                    },
                    "rotation": {
                        "roll": 0.010267514735460281,
                        "pitch": -1.2748342752456665,
                        "yaw": -84.86170959472656
                    }
                },
                "velocity": {
                    "x": -0.0003743136185221374,
                    "y": 0.002584009664133191,
                    "z": 0.001650557154789567
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 980.6884155273438,
                        "y": 3288.3095703125,
                        "z": 368.58349609375
                    },
                    "rotation": {
                        "roll": -5.3372598785017544e-08,
                        "pitch": -1.2024273872375488,
                        "yaw": -85.24544525146484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7333984375,
                        "y": 3428.760009765625,
                        "z": 370.411865234375
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.074951171875,
                        "y": 3439.06591796875,
                        "z": 370.4779357910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.357443809509277,
                "transform": {
                    "location": {
                        "x": 975.9716796875,
                        "y": 3301.005859375,
                        "z": 368.8416442871094
                    },
                    "rotation": {
                        "roll": -0.021270830184221268,
                        "pitch": 1.240437388420105,
                        "yaw": 96.46511840820312
                    }
                },
                "velocity": {
                    "x": -1.167630910873413,
                    "y": 10.289525985717773,
                    "z": 0.19732946157455444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.068904876708984,
                "transform": {
                    "location": {
                        "x": 966.9668579101562,
                        "y": 3360.144287109375,
                        "z": 369.7621154785156
                    },
                    "rotation": {
                        "roll": 0.0008053333731368184,
                        "pitch": 0.7266706228256226,
                        "yaw": 99.15044403076172
                    }
                },
                "velocity": {
                    "x": -1.2810219526290894,
                    "y": 7.9659857749938965,
                    "z": 0.09631001949310303
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.03863525390625,
                "transform": {
                    "location": {
                        "x": 963.9510498046875,
                        "y": 3378.87890625,
                        "z": 369.9859619140625
                    },
                    "rotation": {
                        "roll": -0.00015262127271853387,
                        "pitch": 0.6301600337028503,
                        "yaw": 99.13445281982422
                    }
                },
                "velocity": {
                    "x": -1.27775239944458,
                    "y": 7.935955047607422,
                    "z": 0.08731479197740555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1640031337738037,
                "transform": {
                    "location": {
                        "x": 953.6154174804688,
                        "y": 3417.6552734375,
                        "z": 370.3194885253906
                    },
                    "rotation": {
                        "roll": 0.00036804351839236915,
                        "pitch": 0.08336245268583298,
                        "yaw": 99.14143371582031
                    }
                },
                "velocity": {
                    "x": -0.5025339126586914,
                    "y": 3.123763084411621,
                    "z": 0.02189827896654606
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1585135459899902,
                "transform": {
                    "location": {
                        "x": 955.1090698242188,
                        "y": 3408.37548828125,
                        "z": 370.25714111328125
                    },
                    "rotation": {
                        "roll": 0.0010945267276838422,
                        "pitch": 0.6430349349975586,
                        "yaw": 99.14326477050781
                    }
                },
                "velocity": {
                    "x": -0.5019906759262085,
                    "y": 3.1182899475097656,
                    "z": 0.021921442821621895
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06126375496387482,
        "expert_target_speed": 8.851138754594816,
        "target_point": [
            34.71433474642706,
            -0.40272802438116084
        ],
        "target_point_next": [
            85.707983112127,
            -1.2038717911786936
        ]
    },
    "220": {
        "acceleration": [
            -1.0574603080749512,
            2.4999427795410156,
            0.048739612102508545
        ],
        "angular_velocity": [
            0.19734686613082886,
            0.10326925665140152,
            3.8741068840026855
        ],
        "forward_vector": [
            -0.19052934646606445,
            0.981533944606781,
            0.017024526372551918
        ],
        "right_vector": [
            -0.9816630482673645,
            -0.1906035840511322,
            0.002835318213328719
        ],
        "location": [
            963.8058471679688,
            3360.453369140625,
            369.7709045410156
        ],
        "rotation": [
            -0.16247552633285522,
            0.9754807353019714,
            100.98529052734375
        ],
        "velocity": [
            -1.768760323524475,
            8.802454948425293,
            0.10850143432617188
        ],
        "speed": 8.978403321366853,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.49797439575195,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                954.9833374023438,
                3409.15625,
                370.2629699707031
            ],
            "velocity": [
                -0.5023512244224548,
                3.1205620765686035,
                0.02233838103711605
            ],
            "speed_kmh": 11.37894081399709,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.957555294036865,
                "transform": {
                    "location": {
                        "x": 961.9027709960938,
                        "y": 3413.0712890625,
                        "z": 370.2852783203125
                    },
                    "rotation": {
                        "roll": -0.003204336855560541,
                        "pitch": -0.4157126247882843,
                        "yaw": -80.41126251220703
                    }
                },
                "velocity": {
                    "x": 0.9786571860313416,
                    "y": -5.87647008895874,
                    "z": -0.042364463210105896
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.100829124450684,
                "transform": {
                    "location": {
                        "x": 965.5087280273438,
                        "y": 3411.17626953125,
                        "z": 370.2775573730469
                    },
                    "rotation": {
                        "roll": 0.0015445901080965996,
                        "pitch": -0.17211392521858215,
                        "yaw": -80.47105407714844
                    }
                },
                "velocity": {
                    "x": 1.3385531902313232,
                    "y": -7.989253520965576,
                    "z": -0.059420932084321976
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.501708984375,
                        "y": 3286.971435546875,
                        "z": 368.5611877441406
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.320134162902832,
                "transform": {
                    "location": {
                        "x": 968.7255859375,
                        "y": 3370.937744140625,
                        "z": 369.8821716308594
                    },
                    "rotation": {
                        "roll": -0.0014953488716855645,
                        "pitch": -0.6553019881248474,
                        "yaw": -80.81981658935547
                    }
                },
                "velocity": {
                    "x": 1.162906527519226,
                    "y": -7.226677894592285,
                    "z": -0.0844985768198967
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084871292114258,
                "transform": {
                    "location": {
                        "x": 972.451904296875,
                        "y": 3368.233154296875,
                        "z": 369.846435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.663354754447937,
                        "yaw": -80.86302185058594
                    }
                },
                "velocity": {
                    "x": 1.2837704420089722,
                    "y": -7.981756210327148,
                    "z": -0.09299616515636444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.160955429077148,
                "transform": {
                    "location": {
                        "x": 972.7977294921875,
                        "y": 3323.80615234375,
                        "z": 369.27398681640625
                    },
                    "rotation": {
                        "roll": -0.010772686451673508,
                        "pitch": 0.8500101566314697,
                        "yaw": 98.93413543701172
                    }
                },
                "velocity": {
                    "x": -1.4300681352615356,
                    "y": 9.047454833984375,
                    "z": 0.1468682885169983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058899879455566,
                "transform": {
                    "location": {
                        "x": 978.9850463867188,
                        "y": 3327.63525390625,
                        "z": 369.2831115722656
                    },
                    "rotation": {
                        "roll": 0.0006474583060480654,
                        "pitch": -0.9254701137542725,
                        "yaw": -80.87494659423828
                    }
                },
                "velocity": {
                    "x": 1.2794976234436035,
                    "y": -7.955625534057617,
                    "z": -0.12948490679264069
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013733863830566,
                "transform": {
                    "location": {
                        "x": 975.7348022460938,
                        "y": 3327.376220703125,
                        "z": 369.2919006347656
                    },
                    "rotation": {
                        "roll": -0.0013733101077377796,
                        "pitch": -0.9154024124145508,
                        "yaw": -80.85752868652344
                    }
                },
                "velocity": {
                    "x": 1.2733396291732788,
                    "y": -7.910905361175537,
                    "z": -0.12693461775779724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.93722677230835,
                "transform": {
                    "location": {
                        "x": 969.7210693359375,
                        "y": 3343.02734375,
                        "z": 369.53765869140625
                    },
                    "rotation": {
                        "roll": 0.0016187623841688037,
                        "pitch": 0.7561975121498108,
                        "yaw": 99.14400482177734
                    }
                },
                "velocity": {
                    "x": -1.2614085674285889,
                    "y": 7.835538864135742,
                    "z": 0.11291591078042984
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012711914023384452,
                "transform": {
                    "location": {
                        "x": 983.4659423828125,
                        "y": 3293.6357421875,
                        "z": 368.68572998046875
                    },
                    "rotation": {
                        "roll": 0.01045227237045765,
                        "pitch": -1.172968864440918,
                        "yaw": -84.86174774169922
                    }
                },
                "velocity": {
                    "x": -0.00010207697778241709,
                    "y": 0.0005131861544214189,
                    "z": 0.001158511033281684
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 980.8284912109375,
                        "y": 3286.2314453125,
                        "z": 368.5398254394531
                    },
                    "rotation": {
                        "roll": 5.33734443308731e-08,
                        "pitch": -1.2448428869247437,
                        "yaw": -85.86050415039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.5348510742188,
                        "y": 3429.99365234375,
                        "z": 370.4195251464844
                    },
                    "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": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.9151611328125,
                        "y": 3440.05810546875,
                        "z": 370.4831237792969
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.761992454528809,
                "transform": {
                    "location": {
                        "x": 975.6724853515625,
                        "y": 3303.548095703125,
                        "z": 368.8893127441406
                    },
                    "rotation": {
                        "roll": -0.03280634805560112,
                        "pitch": 1.0372871160507202,
                        "yaw": 96.85247039794922
                    }
                },
                "velocity": {
                    "x": -1.17107355594635,
                    "y": 9.68979263305664,
                    "z": 0.18165849149227142
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.005126953125,
                "transform": {
                    "location": {
                        "x": 966.6475830078125,
                        "y": 3362.128662109375,
                        "z": 369.7864074707031
                    },
                    "rotation": {
                        "roll": -0.0007629574392922223,
                        "pitch": 0.7026693224906921,
                        "yaw": 99.12513732910156
                    }
                },
                "velocity": {
                    "x": -1.2702338695526123,
                    "y": 7.903127670288086,
                    "z": 0.09559116512537003
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04378890991211,
                "transform": {
                    "location": {
                        "x": 963.6317138671875,
                        "y": 3380.86328125,
                        "z": 370.0079650878906
                    },
                    "rotation": {
                        "roll": 0.0008519046823494136,
                        "pitch": 0.6332677602767944,
                        "yaw": 99.15886688232422
                    }
                },
                "velocity": {
                    "x": -1.277862310409546,
                    "y": 7.9411444664001465,
                    "z": 0.08851352334022522
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1645593643188477,
                "transform": {
                    "location": {
                        "x": 953.4896850585938,
                        "y": 3418.4365234375,
                        "z": 370.3248291015625
                    },
                    "rotation": {
                        "roll": -0.002593996934592724,
                        "pitch": 0.08201007544994354,
                        "yaw": 99.1419906616211
                    }
                },
                "velocity": {
                    "x": -0.5024617910385132,
                    "y": 3.1243374347686768,
                    "z": 0.02200119011104107
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1608166694641113,
                "transform": {
                    "location": {
                        "x": 954.9833374023438,
                        "y": 3409.15625,
                        "z": 370.2629699707031
                    },
                    "rotation": {
                        "roll": -0.00015256817277986556,
                        "pitch": 0.6396335363388062,
                        "yaw": 99.1434326171875
                    }
                },
                "velocity": {
                    "x": -0.5023512244224548,
                    "y": 3.1205620765686035,
                    "z": 0.02233838103711605
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03568420559167862,
        "expert_target_speed": 9.293893353523165,
        "target_point": [
            32.54085586998292,
            -0.9685788275938263
        ],
        "target_point_next": [
            83.51442052804055,
            -2.6086126780212844
        ]
    },
    "225": {
        "acceleration": [
            0.07188558578491211,
            0.06500244140625,
            0.020001977682113647
        ],
        "angular_velocity": [
            -0.5763264894485474,
            -0.6601764559745789,
            1.2943395376205444
        ],
        "forward_vector": [
            -0.20354712009429932,
            0.9789138436317444,
            0.017211422324180603
        ],
        "right_vector": [
            -0.9790500998497009,
            -0.20361001789569855,
            0.00196511996909976
        ],
        "location": [
            963.3350830078125,
            3362.74169921875,
            369.7990417480469
        ],
        "rotation": [
            -0.11260982602834702,
            0.9861904978752136,
            101.74623107910156
        ],
        "velocity": [
            -1.9529612064361572,
            9.336750030517578,
            0.11611415445804596
        ],
        "speed": 9.53881327032952,
        "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": 47.952693939208984,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                954.8577270507812,
                3409.936767578125,
                370.2687683105469
            ],
            "velocity": [
                -0.5027364492416382,
                3.1224544048309326,
                0.021814193576574326
            ],
            "speed_kmh": 11.385873674630556,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.330740928649902,
                "transform": {
                    "location": {
                        "x": 962.2102661132812,
                        "y": 3411.2275390625,
                        "z": 370.2707214355469
                    },
                    "rotation": {
                        "roll": -0.0017089731991291046,
                        "pitch": -0.3117298185825348,
                        "yaw": -80.50855255126953
                    }
                },
                "velocity": {
                    "x": 1.3672807216644287,
                    "y": -8.217544555664062,
                    "z": -0.06118657439947128
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.237589836120605,
                "transform": {
                    "location": {
                        "x": 965.8518676757812,
                        "y": 3409.108154296875,
                        "z": 370.2619323730469
                    },
                    "rotation": {
                        "roll": 0.005922975018620491,
                        "pitch": -0.345552921295166,
                        "yaw": -80.59081268310547
                    }
                },
                "velocity": {
                    "x": 1.3407829999923706,
                    "y": -8.127519607543945,
                    "z": -0.06011885032057762
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.298095703125,
                        "y": 3289.256103515625,
                        "z": 368.6085510253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1600323915481567,
                        "yaw": 95.36956787109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.048500061035156,
                "transform": {
                    "location": {
                        "x": 969.0314331054688,
                        "y": 3369.037841796875,
                        "z": 369.85986328125
                    },
                    "rotation": {
                        "roll": -0.0004883093643002212,
                        "pitch": -0.6444078087806702,
                        "yaw": -80.83094787597656
                    }
                },
                "velocity": {
                    "x": 1.2781662940979004,
                    "y": -7.945803642272949,
                    "z": -0.0940627008676529
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056679725646973,
                "transform": {
                    "location": {
                        "x": 972.7723388671875,
                        "y": 3366.2412109375,
                        "z": 369.82269287109375
                    },
                    "rotation": {
                        "roll": 0.00023128229076974094,
                        "pitch": -0.6814820766448975,
                        "yaw": -80.86075592041016
                    }
                },
                "velocity": {
                    "x": 1.2798504829406738,
                    "y": -7.953799724578857,
                    "z": -0.09564089775085449
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.890512466430664,
                "transform": {
                    "location": {
                        "x": 972.4708251953125,
                        "y": 3325.87451171875,
                        "z": 369.30792236328125
                    },
                    "rotation": {
                        "roll": -0.004394558724015951,
                        "pitch": 0.7976977229118347,
                        "yaw": 99.0008544921875
                    }
                },
                "velocity": {
                    "x": -1.2360732555389404,
                    "y": 7.792073726654053,
                    "z": 0.1260746568441391
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058835983276367,
                "transform": {
                    "location": {
                        "x": 979.3030395507812,
                        "y": 3325.645751953125,
                        "z": 369.2507629394531
                    },
                    "rotation": {
                        "roll": 0.007402804680168629,
                        "pitch": -0.9231273531913757,
                        "yaw": -80.9262466430664
                    }
                },
                "velocity": {
                    "x": 1.2627757787704468,
                    "y": -7.95822286605835,
                    "z": -0.13005787134170532
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.071920394897461,
                "transform": {
                    "location": {
                        "x": 976.0519409179688,
                        "y": 3325.390625,
                        "z": 369.2596740722656
                    },
                    "rotation": {
                        "roll": -0.004760717041790485,
                        "pitch": -0.9166523218154907,
                        "yaw": -80.93827056884766
                    }
                },
                "velocity": {
                    "x": 1.2559226751327515,
                    "y": -7.972558975219727,
                    "z": -0.12985634803771973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.968202590942383,
                "transform": {
                    "location": {
                        "x": 969.384521484375,
                        "y": 3345.11865234375,
                        "z": 369.5680847167969
                    },
                    "rotation": {
                        "roll": 0.000604560598731041,
                        "pitch": 0.9826046228408813,
                        "yaw": 99.14192199707031
                    }
                },
                "velocity": {
                    "x": -1.4237148761749268,
                    "y": 8.853548049926758,
                    "z": 0.12802718579769135
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.4659423828125,
                        "y": 3293.635498046875,
                        "z": 368.68572998046875
                    },
                    "rotation": {
                        "roll": 0.010491208173334599,
                        "pitch": -1.1659815311431885,
                        "yaw": -84.86174774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4820,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 980.9866943359375,
                        "y": 3284.155029296875,
                        "z": 368.4955139160156
                    },
                    "rotation": {
                        "roll": 5.33734443308731e-08,
                        "pitch": -1.2448428869247437,
                        "yaw": -85.86050415039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.701100826263428,
                "transform": {
                    "location": {
                        "x": 952.2763061523438,
                        "y": 3431.56591796875,
                        "z": 370.42596435546875
                    },
                    "rotation": {
                        "roll": -0.0013122482923790812,
                        "pitch": 0.3526289761066437,
                        "yaw": 99.36805725097656
                    }
                },
                "velocity": {
                    "x": -1.2825651168823242,
                    "y": 7.593486785888672,
                    "z": 0.030671337619423866
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.704345703125,
                        "y": 3441.36767578125,
                        "z": 370.4900207519531
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.591851234436035,
                "transform": {
                    "location": {
                        "x": 975.3970947265625,
                        "y": 3305.78857421875,
                        "z": 368.9305419921875
                    },
                    "rotation": {
                        "roll": -0.020812997594475746,
                        "pitch": 0.8988186717033386,
                        "yaw": 97.06617736816406
                    }
                },
                "velocity": {
                    "x": -1.0587480068206787,
                    "y": 8.524920463562012,
                    "z": 0.1571546494960785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016740798950195,
                "transform": {
                    "location": {
                        "x": 966.3298950195312,
                        "y": 3364.103271484375,
                        "z": 369.8106689453125
                    },
                    "rotation": {
                        "roll": -0.0023498968221247196,
                        "pitch": 0.7060571312904358,
                        "yaw": 99.1571044921875
                    }
                },
                "velocity": {
                    "x": -1.2752652168273926,
                    "y": 7.914076328277588,
                    "z": 0.09603946655988693
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044227600097656,
                "transform": {
                    "location": {
                        "x": 963.3121948242188,
                        "y": 3382.848876953125,
                        "z": 370.0299377441406
                    },
                    "rotation": {
                        "roll": -0.0002746650716289878,
                        "pitch": 0.6332131624221802,
                        "yaw": 99.12659454345703
                    }
                },
                "velocity": {
                    "x": -1.278032898902893,
                    "y": 7.941572189331055,
                    "z": 0.08751185983419418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650965213775635,
                "transform": {
                    "location": {
                        "x": 953.3639526367188,
                        "y": 3419.2177734375,
                        "z": 370.3302307128906
                    },
                    "rotation": {
                        "roll": 0.0012406078167259693,
                        "pitch": 0.08397717028856277,
                        "yaw": 99.1418685913086
                    }
                },
                "velocity": {
                    "x": -0.5031333565711975,
                    "y": 3.1247804164886475,
                    "z": 0.02097531221807003
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627426147460938,
                "transform": {
                    "location": {
                        "x": 954.8577270507812,
                        "y": 3409.936767578125,
                        "z": 370.2687683105469
                    },
                    "rotation": {
                        "roll": 1.5262156011885963e-05,
                        "pitch": 0.6402413845062256,
                        "yaw": 99.1436996459961
                    }
                },
                "velocity": {
                    "x": -0.5027364492416382,
                    "y": 3.1224544048309326,
                    "z": 0.021814193576574326
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12956829369068146,
        "expert_target_speed": 9.66423514023154,
        "target_point": [
            30.18887681533629,
            -1.3956905712759164
        ],
        "target_point_next": [
            81.13616681445247,
            -3.712508804475764
        ]
    },
    "230": {
        "acceleration": [
            -0.2382946014404297,
            3.4405899047851562,
            0.03533661365509033
        ],
        "angular_velocity": [
            0.2853226959705353,
            -0.4772244989871979,
            -2.5073535442352295
        ],
        "forward_vector": [
            -0.19838568568229675,
            0.9799351096153259,
            0.01924598403275013
        ],
        "right_vector": [
            -0.9801198244094849,
            -0.19840402901172638,
            -0.0009703579708002508
        ],
        "location": [
            962.8306274414062,
            3365.216064453125,
            369.8287658691406
        ],
        "rotation": [
            0.05560772493481636,
            1.1027817726135254,
            101.4447250366211
        ],
        "velocity": [
            -2.084577798843384,
            10.467666625976562,
            0.12574973702430725
        ],
        "speed": 10.67321456694347,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.21797561645508,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                954.7321166992188,
                3410.716796875,
                370.27459716796875
            ],
            "velocity": [
                -0.5024927258491516,
                3.1224117279052734,
                0.022237062454223633
            ],
            "speed_kmh": 11.385593159273538,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.116042137145996,
                "transform": {
                    "location": {
                        "x": 962.5510864257812,
                        "y": 3409.170654296875,
                        "z": 370.25604248046875
                    },
                    "rotation": {
                        "roll": 0.0013931260909885168,
                        "pitch": -0.40236642956733704,
                        "yaw": -80.61832427978516
                    }
                },
                "velocity": {
                    "x": 1.312065601348877,
                    "y": -8.00905990600586,
                    "z": -0.05988552048802376
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.868496894836426,
                "transform": {
                    "location": {
                        "x": 966.1752319335938,
                        "y": 3407.140625,
                        "z": 370.2470703125
                    },
                    "rotation": {
                        "roll": 0.0029152068309485912,
                        "pitch": -0.45126375555992126,
                        "yaw": -80.67943572998047
                    }
                },
                "velocity": {
                    "x": 1.27276611328125,
                    "y": -7.764654159545898,
                    "z": -0.05878552421927452
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.10546875,
                        "y": 3291.4189453125,
                        "z": 368.65350341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1600323915481567,
                        "yaw": 95.36956787109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.561607360839844,
                "transform": {
                    "location": {
                        "x": 969.3733520507812,
                        "y": 3366.91064453125,
                        "z": 369.8348083496094
                    },
                    "rotation": {
                        "roll": -0.0007019268232397735,
                        "pitch": -0.6476384997367859,
                        "yaw": -80.79447174072266
                    }
                },
                "velocity": {
                    "x": 1.3600070476531982,
                    "y": -8.452306747436523,
                    "z": -0.10006427764892578
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087189674377441,
                "transform": {
                    "location": {
                        "x": 973.0929565429688,
                        "y": 3364.248779296875,
                        "z": 369.7986145019531
                    },
                    "rotation": {
                        "roll": -0.0014038147637620568,
                        "pitch": -0.6981477737426758,
                        "yaw": -80.85940551757812
                    }
                },
                "velocity": {
                    "x": 1.2845741510391235,
                    "y": -7.983922481536865,
                    "z": -0.0973893404006958
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.274102210998535,
                "transform": {
                    "location": {
                        "x": 972.157470703125,
                        "y": 3327.8447265625,
                        "z": 369.3387451171875
                    },
                    "rotation": {
                        "roll": -0.00427240040153265,
                        "pitch": 0.9144051671028137,
                        "yaw": 99.04291534423828
                    }
                },
                "velocity": {
                    "x": -1.3047312498092651,
                    "y": 8.169572830200195,
                    "z": 0.12856025993824005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05859375,
                "transform": {
                    "location": {
                        "x": 979.6170043945312,
                        "y": 3323.65625,
                        "z": 369.218505859375
                    },
                    "rotation": {
                        "roll": 0.008074219338595867,
                        "pitch": -0.9211397767066956,
                        "yaw": -81.05904388427734
                    }
                },
                "velocity": {
                    "x": 1.2521337270736694,
                    "y": -7.959671497344971,
                    "z": -0.12934932112693787
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.014259338378906,
                "transform": {
                    "location": {
                        "x": 976.3650512695312,
                        "y": 3323.405029296875,
                        "z": 369.2274169921875
                    },
                    "rotation": {
                        "roll": 0.0008156177354976535,
                        "pitch": -0.914179801940918,
                        "yaw": -81.03243255615234
                    }
                },
                "velocity": {
                    "x": 1.2438997030258179,
                    "y": -7.916084289550781,
                    "z": -0.1291109174489975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.501862525939941,
                "transform": {
                    "location": {
                        "x": 969.0176391601562,
                        "y": 3347.398681640625,
                        "z": 369.6002197265625
                    },
                    "rotation": {
                        "roll": -0.0003051581443287432,
                        "pitch": 0.9370062947273254,
                        "yaw": 99.13973236083984
                    }
                },
                "velocity": {
                    "x": -1.5091454982757568,
                    "y": 9.380355834960938,
                    "z": 0.1296512931585312
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.5511474609375,
                        "y": 3292.388671875,
                        "z": 368.6607666015625
                    },
                    "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.841147422790527,
                "transform": {
                    "location": {
                        "x": 951.9895629882812,
                        "y": 3433.256103515625,
                        "z": 370.4350280761719
                    },
                    "rotation": {
                        "roll": 0.001711911871097982,
                        "pitch": 0.33366838097572327,
                        "yaw": 99.67213439941406
                    }
                },
                "velocity": {
                    "x": -0.9940652251243591,
                    "y": 5.755835056304932,
                    "z": 0.03459593653678894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.4475708007812,
                        "y": 3442.96337890625,
                        "z": 370.4984436035156
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.09089469909668,
                "transform": {
                    "location": {
                        "x": 975.1202392578125,
                        "y": 3307.960205078125,
                        "z": 368.97021484375
                    },
                    "rotation": {
                        "roll": -0.028076190501451492,
                        "pitch": 1.0487276315689087,
                        "yaw": 97.36460876464844
                    }
                },
                "velocity": {
                    "x": -1.181773066520691,
                    "y": 9.012307167053223,
                    "z": 0.1615375280380249
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036222457885742,
                "transform": {
                    "location": {
                        "x": 966.010498046875,
                        "y": 3366.086181640625,
                        "z": 369.8343811035156
                    },
                    "rotation": {
                        "roll": 7.625827129231766e-05,
                        "pitch": 0.6954225301742554,
                        "yaw": 99.13372039794922
                    }
                },
                "velocity": {
                    "x": -1.277543306350708,
                    "y": 7.9334540367126465,
                    "z": 0.09521739929914474
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042706489562988,
                "transform": {
                    "location": {
                        "x": 962.9927978515625,
                        "y": 3384.834228515625,
                        "z": 370.0516052246094
                    },
                    "rotation": {
                        "roll": 0.00014683078916277736,
                        "pitch": 0.6133919358253479,
                        "yaw": 99.15541076660156
                    }
                },
                "velocity": {
                    "x": -1.277211308479309,
                    "y": 7.940194129943848,
                    "z": 0.08467796444892883
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164942502975464,
                "transform": {
                    "location": {
                        "x": 953.23828125,
                        "y": 3419.9990234375,
                        "z": 370.3355712890625
                    },
                    "rotation": {
                        "roll": 0.0003980356559623033,
                        "pitch": 0.08070550858974457,
                        "yaw": 99.14218139648438
                    }
                },
                "velocity": {
                    "x": -0.5026270747184753,
                    "y": 3.1247007846832275,
                    "z": 0.021731462329626083
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626648902893066,
                "transform": {
                    "location": {
                        "x": 954.7321166992188,
                        "y": 3410.716796875,
                        "z": 370.27459716796875
                    },
                    "rotation": {
                        "roll": -0.0003967092197854072,
                        "pitch": 0.6385201811790466,
                        "yaw": 99.14334869384766
                    }
                },
                "velocity": {
                    "x": -0.5024927258491516,
                    "y": 3.1224117279052734,
                    "z": 0.022237062454223633
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.16217871010303497,
        "expert_target_speed": 10.0,
        "target_point": [
            27.670541108453982,
            -1.2402767925151643
        ],
        "target_point_next": [
            78.62931661090946,
            -3.288984743901798
        ]
    },
    "235": {
        "acceleration": [
            0.1368093490600586,
            2.235546112060547,
            0.02254664897918701
        ],
        "angular_velocity": [
            -0.3519514799118042,
            -0.419755756855011,
            -2.8595328330993652
        ],
        "forward_vector": [
            -0.1866922378540039,
            0.9822573661804199,
            0.017788663506507874
        ],
        "right_vector": [
            -0.9824180603027344,
            -0.186677023768425,
            -0.002526670228689909
        ],
        "location": [
            962.3070678710938,
            3367.91845703125,
            369.8612060546875
        ],
        "rotation": [
            0.1447906196117401,
            1.0192691087722778,
            100.76153564453125
        ],
        "velocity": [
            -2.0783731937408447,
            11.089853286743164,
            0.12909406423568726
        ],
        "speed": 11.282928744521463,
        "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": 44.25574493408203,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                954.6064453125,
                3411.4970703125,
                370.2804260253906
            ],
            "velocity": [
                -0.5020426511764526,
                3.122178077697754,
                0.022084379568696022
            ],
            "speed_kmh": 11.384501534099702,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.8858642578125,
                        "y": 3445.68115234375,
                        "z": 370.5543212890625
                    },
                    "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": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.898407936096191,
                "transform": {
                    "location": {
                        "x": 962.8714599609375,
                        "y": 3407.21533203125,
                        "z": 370.2416076660156
                    },
                    "rotation": {
                        "roll": -0.0003051927487831563,
                        "pitch": -0.43316373229026794,
                        "yaw": -80.70758819580078
                    }
                },
                "velocity": {
                    "x": 1.2724361419677734,
                    "y": -7.79502534866333,
                    "z": -0.05773784592747688
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.142158508300781,
                "transform": {
                    "location": {
                        "x": 966.4981689453125,
                        "y": 3405.164306640625,
                        "z": 370.2314758300781
                    },
                    "rotation": {
                        "roll": 0.00429120659828186,
                        "pitch": -0.44113457202911377,
                        "yaw": -80.7278060913086
                    }
                },
                "velocity": {
                    "x": 1.3086146116256714,
                    "y": -8.036044120788574,
                    "z": -0.065280482172966
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.8743286132812,
                        "y": 3293.760009765625,
                        "z": 368.7005310058594
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.164237976074219,
                "transform": {
                    "location": {
                        "x": 969.7044067382812,
                        "y": 3364.85546875,
                        "z": 369.810546875
                    },
                    "rotation": {
                        "roll": -0.000701934564858675,
                        "pitch": -0.701569676399231,
                        "yaw": -80.83958435058594
                    }
                },
                "velocity": {
                    "x": 1.2968995571136475,
                    "y": -8.059972763061523,
                    "z": -0.09835319966077805
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055017471313477,
                "transform": {
                    "location": {
                        "x": 973.413330078125,
                        "y": 3362.257080078125,
                        "z": 369.7741394042969
                    },
                    "rotation": {
                        "roll": 0.00042561080772429705,
                        "pitch": -0.6955795884132385,
                        "yaw": -80.86031341552734
                    }
                },
                "velocity": {
                    "x": 1.2789236307144165,
                    "y": -7.952217102050781,
                    "z": -0.0994877889752388
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.55659294128418,
                "transform": {
                    "location": {
                        "x": 971.8062133789062,
                        "y": 3330.04296875,
                        "z": 369.3727722167969
                    },
                    "rotation": {
                        "roll": -0.0032349037937819958,
                        "pitch": 0.9964972138404846,
                        "yaw": 99.08629608154297
                    }
                },
                "velocity": {
                    "x": -1.5100170373916626,
                    "y": 9.435357093811035,
                    "z": 0.1494959592819214
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05838680267334,
                "transform": {
                    "location": {
                        "x": 979.9288940429688,
                        "y": 3321.665771484375,
                        "z": 369.186279296875
                    },
                    "rotation": {
                        "roll": 0.012615962885320187,
                        "pitch": -0.917629063129425,
                        "yaw": -81.09922790527344
                    }
                },
                "velocity": {
                    "x": 1.2290616035461426,
                    "y": -7.963077068328857,
                    "z": -0.12806959450244904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.072397232055664,
                "transform": {
                    "location": {
                        "x": 976.677490234375,
                        "y": 3321.418701171875,
                        "z": 369.1951904296875
                    },
                    "rotation": {
                        "roll": -0.000457787566119805,
                        "pitch": -0.9136607050895691,
                        "yaw": -81.05962371826172
                    }
                },
                "velocity": {
                    "x": 1.2518130540847778,
                    "y": -7.973705768585205,
                    "z": -0.1287999004125595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.506912231445312,
                "transform": {
                    "location": {
                        "x": 968.6600341796875,
                        "y": 3349.62158203125,
                        "z": 369.6306457519531
                    },
                    "rotation": {
                        "roll": -0.0006714287446811795,
                        "pitch": 0.644612729549408,
                        "yaw": 99.14002990722656
                    }
                },
                "velocity": {
                    "x": -1.3511264324188232,
                    "y": 8.398180961608887,
                    "z": 0.11210905015468597
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4821,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.7030029296875,
                        "y": 3290.311279296875,
                        "z": 368.61834716796875
                    },
                    "rotation": {
                        "roll": 5.3372598785017544e-08,
                        "pitch": -1.2024273872375488,
                        "yaw": -88.70828247070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00036931256181560457,
                "transform": {
                    "location": {
                        "x": 951.8807373046875,
                        "y": 3433.890869140625,
                        "z": 370.4393310546875
                    },
                    "rotation": {
                        "roll": 0.005012613721191883,
                        "pitch": 0.2350609451532364,
                        "yaw": 99.7535400390625
                    }
                },
                "velocity": {
                    "x": -0.00016495899762958288,
                    "y": -5.7438610383542255e-05,
                    "z": 0.0003253937466070056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.1359252929688,
                        "y": 3444.89990234375,
                        "z": 370.5088195800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.843770980834961,
                "transform": {
                    "location": {
                        "x": 974.8057861328125,
                        "y": 3310.316162109375,
                        "z": 369.0123596191406
                    },
                    "rotation": {
                        "roll": -0.02087404765188694,
                        "pitch": 1.1034921407699585,
                        "yaw": 97.66210174560547
                    }
                },
                "velocity": {
                    "x": -1.3149839639663696,
                    "y": 9.754044532775879,
                    "z": 0.17108269035816193
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011506080627441,
                "transform": {
                    "location": {
                        "x": 965.6918334960938,
                        "y": 3368.0654296875,
                        "z": 369.8580017089844
                    },
                    "rotation": {
                        "roll": 0.00036127763451077044,
                        "pitch": 0.6696863770484924,
                        "yaw": 99.16160583496094
                    }
                },
                "velocity": {
                    "x": -1.273552417755127,
                    "y": 7.909096717834473,
                    "z": 0.09213447570800781
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044182777404785,
                "transform": {
                    "location": {
                        "x": 962.6734008789062,
                        "y": 3386.819091796875,
                        "z": 370.07244873046875
                    },
                    "rotation": {
                        "roll": -2.6681703957365244e-08,
                        "pitch": 0.5607789754867554,
                        "yaw": 99.12854766845703
                    }
                },
                "velocity": {
                    "x": -1.2783796787261963,
                    "y": 7.941532611846924,
                    "z": 0.08171987533569336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165045738220215,
                "transform": {
                    "location": {
                        "x": 953.112548828125,
                        "y": 3420.7802734375,
                        "z": 370.3409423828125
                    },
                    "rotation": {
                        "roll": 0.0031890410464257,
                        "pitch": 0.07938045263290405,
                        "yaw": 99.14271545410156
                    }
                },
                "velocity": {
                    "x": -0.5032451748847961,
                    "y": 3.1247055530548096,
                    "z": 0.021761732175946236
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1623613834381104,
                "transform": {
                    "location": {
                        "x": 954.6064453125,
                        "y": 3411.4970703125,
                        "z": 370.2804260253906
                    },
                    "rotation": {
                        "roll": 0.003307752311229706,
                        "pitch": 0.6408629417419434,
                        "yaw": 99.14188385009766
                    }
                },
                "velocity": {
                    "x": -0.5020426511764526,
                    "y": 3.122178077697754,
                    "z": 0.022084379568696022
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.17300276458263397,
        "expert_target_speed": 10.0,
        "target_point": [
            24.930738276270517,
            -0.9199905890653985
        ],
        "target_point_next": [
            75.9103204033232,
            -2.360896946474421
        ]
    },
    "240": {
        "acceleration": [
            0.7167196273803711,
            -1.844482421875,
            -0.008214712142944336
        ],
        "angular_velocity": [
            -1.2102878093719482,
            -0.12158682942390442,
            -1.909038782119751
        ],
        "forward_vector": [
            -0.1771707683801651,
            0.9840790629386902,
            0.014099725522100925
        ],
        "right_vector": [
            -0.9841800928115845,
            -0.1771509349346161,
            -0.0026532714255154133
        ],
        "location": [
            961.7958984375,
            3370.70263671875,
            369.89453125
        ],
        "rotation": [
            0.15203654766082764,
            0.8078815340995789,
            100.2060317993164
        ],
        "velocity": [
            -1.9715306758880615,
            11.034680366516113,
            0.12966561317443848
        ],
        "speed": 11.209420323867949,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.215152740478516,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                954.4808959960938,
                3412.27734375,
                370.2862548828125
            ],
            "velocity": [
                -0.5026604533195496,
                3.1221959590911865,
                0.0222040843218565
            ],
            "speed_kmh": 11.384921402853816,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.3707885742188,
                        "y": 3447.0673828125,
                        "z": 370.7081604003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31338271498680115,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.216796875,
                        "y": 3443.623779296875,
                        "z": 370.5249938964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33260971307754517,
                        "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": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.14382266998291,
                "transform": {
                    "location": {
                        "x": 963.1957397460938,
                        "y": 3405.22998046875,
                        "z": 370.226318359375
                    },
                    "rotation": {
                        "roll": 4.2289662815164775e-05,
                        "pitch": -0.4298715889453888,
                        "yaw": -80.7286605834961
                    }
                },
                "velocity": {
                    "x": 1.3119877576828003,
                    "y": -8.037158966064453,
                    "z": -0.06789606809616089
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056177139282227,
                "transform": {
                    "location": {
                        "x": 966.82373046875,
                        "y": 3403.159912109375,
                        "z": 370.2147216796875
                    },
                    "rotation": {
                        "roll": 0.001817967277020216,
                        "pitch": -0.5018618106842041,
                        "yaw": -80.77730560302734
                    }
                },
                "velocity": {
                    "x": 1.2913877964019775,
                    "y": -7.951704978942871,
                    "z": -0.0684887170791626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.6241455078125,
                        "y": 3296.26708984375,
                        "z": 368.750732421875
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.506779670715332,
                "transform": {
                    "location": {
                        "x": 970.0230102539062,
                        "y": 3362.876708984375,
                        "z": 369.78631591796875
                    },
                    "rotation": {
                        "roll": -0.00033569251536391675,
                        "pitch": -0.714232861995697,
                        "yaw": -80.84342956542969
                    }
                },
                "velocity": {
                    "x": 1.1932172775268555,
                    "y": -7.410775184631348,
                    "z": -0.09154064953327179
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087860107421875,
                "transform": {
                    "location": {
                        "x": 973.73388671875,
                        "y": 3360.2646484375,
                        "z": 369.7496032714844
                    },
                    "rotation": {
                        "roll": 0.0011841909727081656,
                        "pitch": -0.694732666015625,
                        "yaw": -80.86064147949219
                    }
                },
                "velocity": {
                    "x": 1.2846026420593262,
                    "y": -7.984578609466553,
                    "z": -0.09885244816541672
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.102845191955566,
                "transform": {
                    "location": {
                        "x": 971.4149780273438,
                        "y": 3332.48681640625,
                        "z": 369.4114074707031
                    },
                    "rotation": {
                        "roll": -0.0030823401175439358,
                        "pitch": 0.957879364490509,
                        "yaw": 99.10728454589844
                    }
                },
                "velocity": {
                    "x": -1.601320505142212,
                    "y": 9.973922729492188,
                    "z": 0.15528789162635803
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058863639831543,
                "transform": {
                    "location": {
                        "x": 980.2315673828125,
                        "y": 3319.67431640625,
                        "z": 369.1541442871094
                    },
                    "rotation": {
                        "roll": 0.01491774432361126,
                        "pitch": -0.9254154562950134,
                        "yaw": -81.40357971191406
                    }
                },
                "velocity": {
                    "x": 1.199936032295227,
                    "y": -7.968002796173096,
                    "z": -0.12796275317668915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013604164123535,
                "transform": {
                    "location": {
                        "x": 976.97998046875,
                        "y": 3319.43115234375,
                        "z": 369.1628723144531
                    },
                    "rotation": {
                        "roll": -0.008850125595927238,
                        "pitch": -0.9179705381393433,
                        "yaw": -81.33379364013672
                    }
                },
                "velocity": {
                    "x": 1.1858434677124023,
                    "y": -7.92432165145874,
                    "z": -0.12948106229305267
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.622202396392822,
                "transform": {
                    "location": {
                        "x": 968.3472290039062,
                        "y": 3351.5654296875,
                        "z": 369.65655517578125
                    },
                    "rotation": {
                        "roll": -0.0005493802600540221,
                        "pitch": 0.602115273475647,
                        "yaw": 99.13998413085938
                    }
                },
                "velocity": {
                    "x": -1.210730791091919,
                    "y": 7.524776458740234,
                    "z": 0.09920009225606918
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013900290941819549,
                "transform": {
                    "location": {
                        "x": 951.8806762695312,
                        "y": 3433.89111328125,
                        "z": 370.4386291503906
                    },
                    "rotation": {
                        "roll": 0.00579651165753603,
                        "pitch": 0.3295634388923645,
                        "yaw": 99.7535400390625
                    }
                },
                "velocity": {
                    "x": -8.33754165796563e-05,
                    "y": -9.103622141992673e-05,
                    "z": 0.00138453661929816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.8050537109375,
                        "y": 3446.95654296875,
                        "z": 370.5198059082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.00202751159668,
                "transform": {
                    "location": {
                        "x": 974.4602661132812,
                        "y": 3312.8193359375,
                        "z": 369.0559997558594
                    },
                    "rotation": {
                        "roll": -0.0326538011431694,
                        "pitch": 1.0254367589950562,
                        "yaw": 97.98933410644531
                    }
                },
                "velocity": {
                    "x": -1.4012168645858765,
                    "y": 9.901886940002441,
                    "z": 0.17259417474269867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.12503433227539,
                "transform": {
                    "location": {
                        "x": 965.3719482421875,
                        "y": 3370.052978515625,
                        "z": 369.8810729980469
                    },
                    "rotation": {
                        "roll": -0.00027469557244330645,
                        "pitch": 0.701829195022583,
                        "yaw": 99.12982177734375
                    }
                },
                "velocity": {
                    "x": -1.2911349534988403,
                    "y": 8.021260261535645,
                    "z": 0.09244988858699799
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043684959411621,
                "transform": {
                    "location": {
                        "x": 962.3538208007812,
                        "y": 3388.80419921875,
                        "z": 370.0920104980469
                    },
                    "rotation": {
                        "roll": 0.00014434804324992,
                        "pitch": 0.5619332790374756,
                        "yaw": 99.16365051269531
                    }
                },
                "velocity": {
                    "x": -1.2783145904541016,
                    "y": 7.941074848175049,
                    "z": 0.07820180803537369
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165020227432251,
                "transform": {
                    "location": {
                        "x": 952.9868774414062,
                        "y": 3421.5615234375,
                        "z": 370.34625244140625
                    },
                    "rotation": {
                        "roll": -0.00045775985927321017,
                        "pitch": 0.08094456791877747,
                        "yaw": 99.14310455322266
                    }
                },
                "velocity": {
                    "x": -0.503028929233551,
                    "y": 3.124713182449341,
                    "z": 0.02197316102683544
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.16247820854187,
                "transform": {
                    "location": {
                        "x": 954.4808959960938,
                        "y": 3412.27734375,
                        "z": 370.2862548828125
                    },
                    "rotation": {
                        "roll": 0.001177720376290381,
                        "pitch": 0.6383835673332214,
                        "yaw": 99.14189910888672
                    }
                },
                "velocity": {
                    "x": -0.5026604533195496,
                    "y": 3.1221959590911865,
                    "z": 0.0222040843218565
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.19510753452777863,
        "expert_target_speed": 10.0,
        "target_point": [
            22.107786740343947,
            -0.6880153190101783
        ],
        "target_point_next": [
            73.09894199077623,
            -1.6346362600644415
        ]
    },
    "245": {
        "acceleration": [
            0.8945703506469727,
            -2.0043373107910156,
            -0.04026293754577637
        ],
        "angular_velocity": [
            -0.6067607998847961,
            -0.15256981551647186,
            -2.860377311706543
        ],
        "forward_vector": [
            -0.16666442155838013,
            0.9859641194343567,
            0.009880858473479748
        ],
        "right_vector": [
            -0.9860126376152039,
            -0.1666414588689804,
            -0.0031090553384274244
        ],
        "location": [
            961.330078125,
            3373.39306640625,
            369.9270324707031
        ],
        "rotation": [
            0.17814473807811737,
            0.5661407113075256,
            99.59441375732422
        ],
        "velocity": [
            -1.7465013265609741,
            10.513405799865723,
            0.1237322986125946
        ],
        "speed": 10.657484149475872,
        "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": 40.274776458740234,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                954.3552856445312,
                3413.0576171875,
                370.2919921875
            ],
            "velocity": [
                -0.5024942755699158,
                3.122668981552124,
                0.021953381597995758
            ],
            "speed_kmh": 11.38650123835865,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.7007446289062,
                        "y": 3445.017333984375,
                        "z": 370.5398254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31338271498680115,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.905786514282227,
                "transform": {
                    "location": {
                        "x": 960.5415649414062,
                        "y": 3441.608154296875,
                        "z": 370.4908142089844
                    },
                    "rotation": {
                        "roll": 0.003744085319340229,
                        "pitch": -0.24652200937271118,
                        "yaw": -80.84040832519531
                    }
                },
                "velocity": {
                    "x": 1.113875150680542,
                    "y": -6.814401626586914,
                    "z": -0.11445179581642151
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03996467590332,
                "transform": {
                    "location": {
                        "x": 963.5205078125,
                        "y": 3403.230224609375,
                        "z": 370.2099609375
                    },
                    "rotation": {
                        "roll": 0.0004608952149283141,
                        "pitch": -0.5003659725189209,
                        "yaw": -80.78052520751953
                    }
                },
                "velocity": {
                    "x": 1.2853548526763916,
                    "y": -7.936257362365723,
                    "z": -0.06870313733816147
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020108222961426,
                "transform": {
                    "location": {
                        "x": 967.1444091796875,
                        "y": 3401.182373046875,
                        "z": 370.19744873046875
                    },
                    "rotation": {
                        "roll": -0.0009155467269010842,
                        "pitch": -0.49813932180404663,
                        "yaw": -80.79328918457031
                    }
                },
                "velocity": {
                    "x": 1.2824320793151855,
                    "y": -7.916614055633545,
                    "z": -0.06880076974630356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.3597412109375,
                        "y": 3298.6845703125,
                        "z": 368.7975158691406
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.741964340209961,
                "transform": {
                    "location": {
                        "x": 970.2978515625,
                        "y": 3361.168701171875,
                        "z": 369.765380859375
                    },
                    "rotation": {
                        "roll": -0.0018310900777578354,
                        "pitch": -0.7231735587120056,
                        "yaw": -80.84011840820312
                    }
                },
                "velocity": {
                    "x": 1.0703600645065308,
                    "y": -6.655949115753174,
                    "z": -0.08217257261276245
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0554838180542,
                "transform": {
                    "location": {
                        "x": 974.0543823242188,
                        "y": 3358.272705078125,
                        "z": 369.7250061035156
                    },
                    "rotation": {
                        "roll": -0.00027466879691928625,
                        "pitch": -0.700135350227356,
                        "yaw": -80.86071014404297
                    }
                },
                "velocity": {
                    "x": 1.2794017791748047,
                    "y": -7.952580451965332,
                    "z": -0.10205338150262833
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.38602066040039,
                "transform": {
                    "location": {
                        "x": 971.025146484375,
                        "y": 3334.9169921875,
                        "z": 369.4502258300781
                    },
                    "rotation": {
                        "roll": -0.0014648640062659979,
                        "pitch": 0.8521685004234314,
                        "yaw": 99.14044952392578
                    }
                },
                "velocity": {
                    "x": -1.4884487390518188,
                    "y": 9.266100883483887,
                    "z": 0.14590473473072052
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059475898742676,
                "transform": {
                    "location": {
                        "x": 980.5299072265625,
                        "y": 3317.681884765625,
                        "z": 369.1215515136719
                    },
                    "rotation": {
                        "roll": 0.007569395005702972,
                        "pitch": -0.9369447827339172,
                        "yaw": -81.48339080810547
                    }
                },
                "velocity": {
                    "x": 1.189474105834961,
                    "y": -7.970139980316162,
                    "z": -0.13104747235774994
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.073518753051758,
                "transform": {
                    "location": {
                        "x": 977.2779541015625,
                        "y": 3317.442626953125,
                        "z": 369.1302185058594
                    },
                    "rotation": {
                        "roll": -0.0027466348838061094,
                        "pitch": -0.9346908330917358,
                        "yaw": -81.47007751464844
                    }
                },
                "velocity": {
                    "x": 1.1895363330841064,
                    "y": -7.984314441680908,
                    "z": -0.1320701688528061
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.359026908874512,
                "transform": {
                    "location": {
                        "x": 968.0322265625,
                        "y": 3353.522705078125,
                        "z": 369.6827697753906
                    },
                    "rotation": {
                        "roll": -0.001098604523576796,
                        "pitch": 0.8400039672851562,
                        "yaw": 99.1431655883789
                    }
                },
                "velocity": {
                    "x": -1.328177809715271,
                    "y": 8.252096176147461,
                    "z": 0.11037441343069077
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.855485737323761,
                "transform": {
                    "location": {
                        "x": 951.8639526367188,
                        "y": 3433.98828125,
                        "z": 370.43896484375
                    },
                    "rotation": {
                        "roll": 0.004381191451102495,
                        "pitch": 0.37139835953712463,
                        "yaw": 99.79580688476562
                    }
                },
                "velocity": {
                    "x": -0.1490994393825531,
                    "y": 0.8423849940299988,
                    "z": 0.0035617256071418524
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.47412109375,
                        "y": 3449.0126953125,
                        "z": 370.53076171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.402098655700684,
                "transform": {
                    "location": {
                        "x": 974.1160888671875,
                        "y": 3315.209228515625,
                        "z": 369.09674072265625
                    },
                    "rotation": {
                        "roll": -0.023834243416786194,
                        "pitch": 0.9042896628379822,
                        "yaw": 98.27252960205078
                    }
                },
                "velocity": {
                    "x": -1.354017734527588,
                    "y": 9.302721977233887,
                    "z": 0.15959522128105164
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.572394371032715,
                "transform": {
                    "location": {
                        "x": 965.0431518554688,
                        "y": 3372.094970703125,
                        "z": 369.90447998046875
                    },
                    "rotation": {
                        "roll": -0.0003967764787375927,
                        "pitch": 0.7989544868469238,
                        "yaw": 99.15797424316406
                    }
                },
                "velocity": {
                    "x": -1.3624125719070435,
                    "y": 8.462862014770508,
                    "z": 0.09865615516901016
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044548988342285,
                "transform": {
                    "location": {
                        "x": 962.034423828125,
                        "y": 3390.7900390625,
                        "z": 370.1115417480469
                    },
                    "rotation": {
                        "roll": -0.00015259273641277105,
                        "pitch": 0.5636681318283081,
                        "yaw": 99.12471771240234
                    }
                },
                "velocity": {
                    "x": -1.2780218124389648,
                    "y": 7.942002773284912,
                    "z": 0.07762739062309265
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1648573875427246,
                "transform": {
                    "location": {
                        "x": 952.861083984375,
                        "y": 3422.3427734375,
                        "z": 370.3515930175781
                    },
                    "rotation": {
                        "roll": -0.0026550251059234142,
                        "pitch": 0.08140219002962112,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -0.5029090046882629,
                    "y": 3.1245641708374023,
                    "z": 0.022439269348978996
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162916898727417,
                "transform": {
                    "location": {
                        "x": 954.3552856445312,
                        "y": 3413.0576171875,
                        "z": 370.2919921875
                    },
                    "rotation": {
                        "roll": 0.0009696255438029766,
                        "pitch": 0.6312733888626099,
                        "yaw": 99.1418228149414
                    }
                },
                "velocity": {
                    "x": -0.5024942755699158,
                    "y": 3.122668981552124,
                    "z": 0.021953381597995758
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2015354484319687,
        "expert_target_speed": 10.0,
        "target_point": [
            19.38343516297208,
            -0.4628699356682211
        ],
        "target_point_next": [
            70.3817899485092,
            -0.8651312291255788
        ]
    },
    "250": {
        "acceleration": [
            1.6944146156311035,
            -7.188720703125,
            -0.0835101306438446
        ],
        "angular_velocity": [
            -1.9911669492721558,
            -0.3501259684562683,
            -3.5489354133605957
        ],
        "forward_vector": [
            -0.1536259800195694,
            0.9881177544593811,
            0.004716139752417803
        ],
        "right_vector": [
            -0.9881255626678467,
            -0.15361109375953674,
            -0.0033749714493751526
        ],
        "location": [
            960.9263916015625,
            3375.91552734375,
            369.9570617675781
        ],
        "rotation": [
            0.1933741569519043,
            0.2702159285545349,
            98.83721923828125
        ],
        "velocity": [
            -1.40557861328125,
            9.278573036193848,
            0.10454300045967102
        ],
        "speed": 9.384432259124532,
        "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": 38.51085662841797,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                954.2296752929688,
                3413.838134765625,
                370.2975769042969
            ],
            "velocity": [
                -0.5025686621665955,
                3.122403144836426,
                0.022224701941013336
            ],
            "speed_kmh": 11.385605777912165,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.948626518249512,
                "transform": {
                    "location": {
                        "x": 957.0050048828125,
                        "y": 3443.150634765625,
                        "z": 370.51092529296875
                    },
                    "rotation": {
                        "roll": -0.04547121003270149,
                        "pitch": -0.7752674221992493,
                        "yaw": -80.71268463134766
                    }
                },
                "velocity": {
                    "x": 1.1536296606063843,
                    "y": -6.850996017456055,
                    "z": -0.12808746099472046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.59745979309082,
                "transform": {
                    "location": {
                        "x": 960.8200073242188,
                        "y": 3439.972412109375,
                        "z": 370.47393798828125
                    },
                    "rotation": {
                        "roll": 0.0021239439956843853,
                        "pitch": -0.261930912733078,
                        "yaw": -80.44612884521484
                    }
                },
                "velocity": {
                    "x": 1.1085718870162964,
                    "y": -6.5035080909729,
                    "z": -0.04394526407122612
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.011236190795898,
                "transform": {
                    "location": {
                        "x": 963.8405151367188,
                        "y": 3401.256103515625,
                        "z": 370.19268798828125
                    },
                    "rotation": {
                        "roll": 0.0005263176281005144,
                        "pitch": -0.49444419145584106,
                        "yaw": -80.79439544677734
                    }
                },
                "velocity": {
                    "x": 1.2816904783248901,
                    "y": -7.907750129699707,
                    "z": -0.06834769994020462
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.089376449584961,
                "transform": {
                    "location": {
                        "x": 967.4664916992188,
                        "y": 3399.19140625,
                        "z": 370.1801452636719
                    },
                    "rotation": {
                        "roll": 0.0005360557697713375,
                        "pitch": -0.48666462302207947,
                        "yaw": -80.81578063964844
                    }
                },
                "velocity": {
                    "x": 1.2899061441421509,
                    "y": -7.985581398010254,
                    "z": -0.06820587068796158
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.1109008789062,
                        "y": 3300.93798828125,
                        "z": 368.84112548828125
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.343759536743164,
                "transform": {
                    "location": {
                        "x": 970.5753173828125,
                        "y": 3359.44482421875,
                        "z": 369.7438049316406
                    },
                    "rotation": {
                        "roll": -0.0010681201238185167,
                        "pitch": -0.683196485042572,
                        "yaw": -80.82750701904297
                    }
                },
                "velocity": {
                    "x": 1.1680339574813843,
                    "y": -7.249728679656982,
                    "z": -0.08905439078807831
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08841609954834,
                "transform": {
                    "location": {
                        "x": 974.3748168945312,
                        "y": 3356.280517578125,
                        "z": 369.69940185546875
                    },
                    "rotation": {
                        "roll": -0.00012204668746562675,
                        "pitch": -0.7489916682243347,
                        "yaw": -80.86042785644531
                    }
                },
                "velocity": {
                    "x": 1.2846351861953735,
                    "y": -7.985073566436768,
                    "z": -0.10387414693832397
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.345520973205566,
                "transform": {
                    "location": {
                        "x": 970.6740112304688,
                        "y": 3337.10107421875,
                        "z": 369.48468017578125
                    },
                    "rotation": {
                        "roll": -0.0011901936959475279,
                        "pitch": 0.7910861372947693,
                        "yaw": 99.11634826660156
                    }
                },
                "velocity": {
                    "x": -1.3239256143569946,
                    "y": 8.238908767700195,
                    "z": 0.1238088384270668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059012413024902,
                "transform": {
                    "location": {
                        "x": 980.8219604492188,
                        "y": 3315.688720703125,
                        "z": 369.088623046875
                    },
                    "rotation": {
                        "roll": 0.020135972648859024,
                        "pitch": -0.958371102809906,
                        "yaw": -81.74568176269531
                    }
                },
                "velocity": {
                    "x": 1.1429085731506348,
                    "y": -7.9764404296875,
                    "z": -0.1335599422454834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013506889343262,
                "transform": {
                    "location": {
                        "x": 977.5689697265625,
                        "y": 3315.45361328125,
                        "z": 369.09716796875
                    },
                    "rotation": {
                        "roll": -0.014556866139173508,
                        "pitch": -0.9501680731773376,
                        "yaw": -81.70540618896484
                    }
                },
                "velocity": {
                    "x": 1.1181498765945435,
                    "y": -7.933988571166992,
                    "z": -0.13361552357673645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.94980525970459,
                "transform": {
                    "location": {
                        "x": 967.6823120117188,
                        "y": 3355.69677734375,
                        "z": 369.71148681640625
                    },
                    "rotation": {
                        "roll": 1.334170036670912e-07,
                        "pitch": 0.855972945690155,
                        "yaw": 99.142822265625
                    }
                },
                "velocity": {
                    "x": -1.4221161603927612,
                    "y": 8.83536148071289,
                    "z": 0.11392459273338318
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6858599185943604,
                "transform": {
                    "location": {
                        "x": 951.8099975585938,
                        "y": 3434.302001953125,
                        "z": 370.4407653808594
                    },
                    "rotation": {
                        "roll": 0.004345385357737541,
                        "pitch": 0.3715896010398865,
                        "yaw": 99.81024932861328
                    }
                },
                "velocity": {
                    "x": -0.28024402260780334,
                    "y": 1.6623687744140625,
                    "z": 0.010815191082656384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.1431884765625,
                        "y": 3451.069091796875,
                        "z": 370.5411376953125
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.571420669555664,
                "transform": {
                    "location": {
                        "x": 973.788818359375,
                        "y": 3317.4287109375,
                        "z": 369.1338195800781
                    },
                    "rotation": {
                        "roll": -0.02664189599454403,
                        "pitch": 0.8302094340324402,
                        "yaw": 98.45951080322266
                    }
                },
                "velocity": {
                    "x": -1.2755805253982544,
                    "y": 8.474809646606445,
                    "z": 0.14054639637470245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.023674011230469,
                "transform": {
                    "location": {
                        "x": 964.6956176757812,
                        "y": 3374.25390625,
                        "z": 369.9295654296875
                    },
                    "rotation": {
                        "roll": 2.401508936600294e-06,
                        "pitch": 0.8604944944381714,
                        "yaw": 99.18053436279297
                    }
                },
                "velocity": {
                    "x": -1.4350361824035645,
                    "y": 8.90822696685791,
                    "z": 0.10420356690883636
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042951583862305,
                "transform": {
                    "location": {
                        "x": 961.7150268554688,
                        "y": 3392.775146484375,
                        "z": 370.1311340332031
                    },
                    "rotation": {
                        "roll": 1.414130906596256e-06,
                        "pitch": 0.5638116002082825,
                        "yaw": 99.1551742553711
                    }
                },
                "velocity": {
                    "x": -1.2770233154296875,
                    "y": 7.940522193908691,
                    "z": 0.0799325555562973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1648411750793457,
                "transform": {
                    "location": {
                        "x": 952.7353515625,
                        "y": 3423.1240234375,
                        "z": 370.35699462890625
                    },
                    "rotation": {
                        "roll": 8.613116369815543e-05,
                        "pitch": 0.08095822483301163,
                        "yaw": 99.1420669555664
                    }
                },
                "velocity": {
                    "x": -0.5025700330734253,
                    "y": 3.1246087551116943,
                    "z": 0.02152436226606369
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162668228149414,
                "transform": {
                    "location": {
                        "x": 954.2296752929688,
                        "y": 3413.838134765625,
                        "z": 370.2975769042969
                    },
                    "rotation": {
                        "roll": -0.00042725770617835224,
                        "pitch": 0.6081941723823547,
                        "yaw": 99.14192199707031
                    }
                },
                "velocity": {
                    "x": -0.5025686621665955,
                    "y": 3.122403144836426,
                    "z": 0.022224701941013336
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1966201215982437,
        "expert_target_speed": 9.539052255902574,
        "target_point": [
            16.8333256854464,
            -0.21804869718476283
        ],
        "target_point_next": [
            67.83254303675457,
            0.05367640978353805
        ]
    },
    "255": {
        "acceleration": [
            1.007845401763916,
            -3.8967323303222656,
            -0.041490644216537476
        ],
        "angular_velocity": [
            0.16437318921089172,
            0.134775310754776,
            -2.7394094467163086
        ],
        "forward_vector": [
            -0.14070823788642883,
            0.9900492429733276,
            0.001936196000315249
        ],
        "right_vector": [
            -0.9900475144386292,
            -0.14070212841033936,
            -0.002993418602272868
        ],
        "location": [
            960.6131591796875,
            3378.067138671875,
            369.9816589355469
        ],
        "rotation": [
            0.17151083052158356,
            0.11093592643737793,
            98.0888442993164
        ],
        "velocity": [
            -1.1077044010162354,
            8.07084846496582,
            0.0888400599360466
        ],
        "speed": 8.14650869909754,
        "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": 37.12745666503906,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                954.1041259765625,
                3414.6181640625,
                370.3028869628906
            ],
            "velocity": [
                -0.5020717978477478,
                3.12239408493042,
                0.021092470735311508
            ],
            "speed_kmh": 11.38526156139816,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.731325149536133,
                "transform": {
                    "location": {
                        "x": 957.2918701171875,
                        "y": 3441.463623046875,
                        "z": 370.4856262207031
                    },
                    "rotation": {
                        "roll": -0.047729481011629105,
                        "pitch": -0.5363132357597351,
                        "yaw": -80.35765075683594
                    }
                },
                "velocity": {
                    "x": 1.1442275047302246,
                    "y": -6.6329569816589355,
                    "z": -0.07322878390550613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.673274040222168,
                "transform": {
                    "location": {
                        "x": 961.0977783203125,
                        "y": 3438.3369140625,
                        "z": 370.4647521972656
                    },
                    "rotation": {
                        "roll": -0.0028686453588306904,
                        "pitch": -0.3243383467197418,
                        "yaw": -80.37374114990234
                    }
                },
                "velocity": {
                    "x": 1.1204278469085693,
                    "y": -6.57843542098999,
                    "z": -0.037573907524347305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.10788631439209,
                "transform": {
                    "location": {
                        "x": 964.1630859375,
                        "y": 3399.2626953125,
                        "z": 370.1752624511719
                    },
                    "rotation": {
                        "roll": 0.0014480529353022575,
                        "pitch": -0.4895947575569153,
                        "yaw": -80.81200408935547
                    }
                },
                "velocity": {
                    "x": 1.292725682258606,
                    "y": -8.003873825073242,
                    "z": -0.06845984607934952
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.037049293518066,
                "transform": {
                    "location": {
                        "x": 967.7876586914062,
                        "y": 3397.201904296875,
                        "z": 370.1628723144531
                    },
                    "rotation": {
                        "roll": -0.0014343135990202427,
                        "pitch": -0.4974631369113922,
                        "yaw": -80.83246612548828
                    }
                },
                "velocity": {
                    "x": 1.280642032623291,
                    "y": -7.934054374694824,
                    "z": -0.0699676126241684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.8597412109375,
                        "y": 3303.0625,
                        "z": 368.8810119628906
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.171485900878906,
                "transform": {
                    "location": {
                        "x": 970.8826293945312,
                        "y": 3357.5380859375,
                        "z": 369.72015380859375
                    },
                    "rotation": {
                        "roll": 0.0006881371955387294,
                        "pitch": -0.6839887499809265,
                        "yaw": -80.8863754272461
                    }
                },
                "velocity": {
                    "x": 1.29761803150177,
                    "y": -8.067118644714355,
                    "z": -0.10470706969499588
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05495548248291,
                "transform": {
                    "location": {
                        "x": 974.6953125,
                        "y": 3354.28857421875,
                        "z": 369.6730651855469
                    },
                    "rotation": {
                        "roll": 0.0008223903132602572,
                        "pitch": -0.7630003690719604,
                        "yaw": -80.8606185913086
                    }
                },
                "velocity": {
                    "x": 1.2793309688568115,
                    "y": -7.951990127563477,
                    "z": -0.10711923986673355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.754600524902344,
                "transform": {
                    "location": {
                        "x": 970.3627319335938,
                        "y": 3339.039306640625,
                        "z": 369.5137023925781
                    },
                    "rotation": {
                        "roll": 0.00020729843527078629,
                        "pitch": 0.7595238089561462,
                        "yaw": 99.13549041748047
                    }
                },
                "velocity": {
                    "x": -1.230493426322937,
                    "y": 7.655479431152344,
                    "z": 0.1155545562505722
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059344291687012,
                "transform": {
                    "location": {
                        "x": 981.1039428710938,
                        "y": 3313.6943359375,
                        "z": 369.0549621582031
                    },
                    "rotation": {
                        "roll": 0.014102962799370289,
                        "pitch": -0.974114716053009,
                        "yaw": -81.97012329101562
                    }
                },
                "velocity": {
                    "x": 1.1189849376678467,
                    "y": -7.980151176452637,
                    "z": -0.13449180126190186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.073625564575195,
                "transform": {
                    "location": {
                        "x": 977.8500366210938,
                        "y": 3313.46240234375,
                        "z": 369.063232421875
                    },
                    "rotation": {
                        "roll": -0.007385288365185261,
                        "pitch": -0.967926561832428,
                        "yaw": -81.94697570800781
                    }
                },
                "velocity": {
                    "x": 1.1168192625045776,
                    "y": -7.994852066040039,
                    "z": -0.13596108555793762
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.72535514831543,
                "transform": {
                    "location": {
                        "x": 967.3309326171875,
                        "y": 3357.880859375,
                        "z": 369.7394714355469
                    },
                    "rotation": {
                        "roll": -0.00012209841224830598,
                        "pitch": 0.6879776120185852,
                        "yaw": 99.13946533203125
                    }
                },
                "velocity": {
                    "x": -1.3857117891311646,
                    "y": 8.613940238952637,
                    "z": 0.10800080746412277
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4212872982025146,
                "transform": {
                    "location": {
                        "x": 951.7235717773438,
                        "y": 3434.811767578125,
                        "z": 370.4440002441406
                    },
                    "rotation": {
                        "roll": 0.00464950455352664,
                        "pitch": 0.3644588887691498,
                        "yaw": 99.74594116210938
                    }
                },
                "velocity": {
                    "x": -0.4018937945365906,
                    "y": 2.387655735015869,
                    "z": 0.014636869542300701
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.8330078125,
                        "y": 3452.99609375,
                        "z": 370.55084228515625
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.844347953796387,
                "transform": {
                    "location": {
                        "x": 973.4642944335938,
                        "y": 3319.552978515625,
                        "z": 369.16900634765625
                    },
                    "rotation": {
                        "roll": -0.018676767125725746,
                        "pitch": 0.9373204708099365,
                        "yaw": 98.72635650634766
                    }
                },
                "velocity": {
                    "x": -1.346436858177185,
                    "y": 8.74009895324707,
                    "z": 0.14239364862442017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.15225601196289,
                "transform": {
                    "location": {
                        "x": 964.3328857421875,
                        "y": 3376.50439453125,
                        "z": 369.95550537109375
                    },
                    "rotation": {
                        "roll": -0.0007018691976554692,
                        "pitch": 0.7936133146286011,
                        "yaw": 99.1778564453125
                    }
                },
                "velocity": {
                    "x": -1.457175374031067,
                    "y": 9.034927368164062,
                    "z": 0.10255658626556396
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045343399047852,
                "transform": {
                    "location": {
                        "x": 961.3958129882812,
                        "y": 3394.76025390625,
                        "z": 370.1501770019531
                    },
                    "rotation": {
                        "roll": -0.0010376201244071126,
                        "pitch": 0.533963680267334,
                        "yaw": 99.12403106689453
                    }
                },
                "velocity": {
                    "x": -1.277988076210022,
                    "y": 7.9428558349609375,
                    "z": 0.0730927437543869
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649627685546875,
                "transform": {
                    "location": {
                        "x": 952.6096801757812,
                        "y": 3423.9052734375,
                        "z": 370.3623046875
                    },
                    "rotation": {
                        "roll": -0.002563474467024207,
                        "pitch": 0.08148415386676788,
                        "yaw": 99.14269256591797
                    }
                },
                "velocity": {
                    "x": -0.5027202367782593,
                    "y": 3.1247007846832275,
                    "z": 0.022497033700346947
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625726222991943,
                "transform": {
                    "location": {
                        "x": 954.1041259765625,
                        "y": 3414.6181640625,
                        "z": 370.3028869628906
                    },
                    "rotation": {
                        "roll": -0.00012206973042339087,
                        "pitch": 0.6038228273391724,
                        "yaw": 99.14077758789062
                    }
                },
                "velocity": {
                    "x": -0.5020717978477478,
                    "y": 3.12239408493042,
                    "z": 0.021092470735311508
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.16307051479816437,
        "expert_target_speed": 8.67240596687593,
        "target_point": [
            14.660458205813446,
            -0.005526510200539292
        ],
        "target_point_next": [
            65.65177580904408,
            0.932308265328059
        ]
    },
    "260": {
        "acceleration": [
            0.44606685638427734,
            -2.113971710205078,
            -0.025013983249664307
        ],
        "angular_velocity": [
            0.658471941947937,
            0.4293850362300873,
            -1.9295786619186401
        ],
        "forward_vector": [
            -0.13036920130252838,
            0.991461455821991,
            0.0028465946670621634
        ],
        "right_vector": [
            -0.9914640188217163,
            -0.13036349415779114,
            -0.002106080763041973
        ],
        "location": [
            960.363037109375,
            3379.9501953125,
            370.00213623046875
        ],
        "rotation": [
            0.1206701323390007,
            0.16309808194637299,
            97.49095916748047
        ],
        "velocity": [
            -0.9083030223846436,
            7.15083646774292,
            0.0789094939827919
        ],
        "speed": 7.208292208899076,
        "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": 36.0199089050293,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                953.978515625,
                3415.3984375,
                370.3082275390625
            ],
            "velocity": [
                -0.5024492144584656,
                3.1223933696746826,
                0.021133603528141975
            ],
            "speed_kmh": 11.385475786147971,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.59359884262085,
                "transform": {
                    "location": {
                        "x": 957.5820922851562,
                        "y": 3439.780029296875,
                        "z": 370.4705505371094
                    },
                    "rotation": {
                        "roll": -0.012329093180596828,
                        "pitch": -0.4229457676410675,
                        "yaw": -80.2291488647461
                    }
                },
                "velocity": {
                    "x": 1.1061450242996216,
                    "y": -6.499979496002197,
                    "z": -0.04746364429593086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.593770980834961,
                "transform": {
                    "location": {
                        "x": 961.3758544921875,
                        "y": 3436.702392578125,
                        "z": 370.4552307128906
                    },
                    "rotation": {
                        "roll": -0.0040588295087218285,
                        "pitch": -0.3364551067352295,
                        "yaw": -80.35015106201172
                    }
                },
                "velocity": {
                    "x": 1.106926441192627,
                    "y": -6.500069618225098,
                    "z": -0.040293872356414795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.003817558288574,
                "transform": {
                    "location": {
                        "x": 964.48388671875,
                        "y": 3397.276123046875,
                        "z": 370.1581115722656
                    },
                    "rotation": {
                        "roll": 0.0007439579349011183,
                        "pitch": -0.4936860501766205,
                        "yaw": -80.83141326904297
                    }
                },
                "velocity": {
                    "x": 1.2750710248947144,
                    "y": -7.901311874389648,
                    "z": -0.06754528731107712
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062882423400879,
                "transform": {
                    "location": {
                        "x": 968.1078491210938,
                        "y": 3395.216064453125,
                        "z": 370.1444396972656
                    },
                    "rotation": {
                        "roll": -0.0002441637043375522,
                        "pitch": -0.5467224717140198,
                        "yaw": -80.83769226074219
                    }
                },
                "velocity": {
                    "x": 1.2838311195373535,
                    "y": -7.959685325622559,
                    "z": -0.07250189036130905
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.5807495117188,
                        "y": 3305.3564453125,
                        "z": 368.9236145019531
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.56270980834961,
                "transform": {
                    "location": {
                        "x": 971.2263793945312,
                        "y": 3355.400634765625,
                        "z": 369.6927185058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7406929731369019,
                        "yaw": -80.92755889892578
                    }
                },
                "velocity": {
                    "x": 1.3576972484588623,
                    "y": -8.453661918640137,
                    "z": -0.11069805920124054
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088493347167969,
                "transform": {
                    "location": {
                        "x": 975.0158081054688,
                        "y": 3352.29638671875,
                        "z": 369.6462097167969
                    },
                    "rotation": {
                        "roll": 0.0011780440108850598,
                        "pitch": -0.7587246894836426,
                        "yaw": -80.86066436767578
                    }
                },
                "velocity": {
                    "x": 1.2846442461013794,
                    "y": -7.985100746154785,
                    "z": -0.10757352411746979
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.650819778442383,
                "transform": {
                    "location": {
                        "x": 970.0391845703125,
                        "y": 3341.0498046875,
                        "z": 369.54193115234375
                    },
                    "rotation": {
                        "roll": 0.0007950100116431713,
                        "pitch": 0.8785945177078247,
                        "yaw": 99.13443756103516
                    }
                },
                "velocity": {
                    "x": -1.3737893104553223,
                    "y": 8.540146827697754,
                    "z": 0.12358397990465164
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.3753662109375,
                        "y": 3311.684326171875,
                        "z": 369.0202941894531
                    },
                    "rotation": {
                        "roll": 1.0673903716451605e-07,
                        "pitch": -1.0328611135482788,
                        "yaw": -82.78528594970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.015151977539062,
                "transform": {
                    "location": {
                        "x": 978.1284790039062,
                        "y": 3311.471435546875,
                        "z": 369.0289001464844
                    },
                    "rotation": {
                        "roll": -0.003814633237197995,
                        "pitch": -0.981682538986206,
                        "yaw": -82.03369140625
                    }
                },
                "velocity": {
                    "x": 1.106141448020935,
                    "y": -7.937231063842773,
                    "z": -0.13956014811992645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.506088256835938,
                "transform": {
                    "location": {
                        "x": 966.9871826171875,
                        "y": 3360.017333984375,
                        "z": 369.7655334472656
                    },
                    "rotation": {
                        "roll": -9.157329623121768e-05,
                        "pitch": 0.6600967645645142,
                        "yaw": 99.14071655273438
                    }
                },
                "velocity": {
                    "x": -1.3521534204483032,
                    "y": 8.397297859191895,
                    "z": 0.10302743315696716
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1822423934936523,
                "transform": {
                    "location": {
                        "x": 951.6053466796875,
                        "y": 3435.5107421875,
                        "z": 370.4483642578125
                    },
                    "rotation": {
                        "roll": 0.003206808352842927,
                        "pitch": 0.3548624515533447,
                        "yaw": 99.68073272705078
                    }
                },
                "velocity": {
                    "x": -0.527748167514801,
                    "y": 3.138122797012329,
                    "z": 0.018260659649968147
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.56591796875,
                        "y": 3454.655517578125,
                        "z": 370.55889892578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.868707656860352,
                "transform": {
                    "location": {
                        "x": 973.10498046875,
                        "y": 3321.869873046875,
                        "z": 369.20697021484375
                    },
                    "rotation": {
                        "roll": -0.017425525933504105,
                        "pitch": 1.0529077053070068,
                        "yaw": 98.8479995727539
                    }
                },
                "velocity": {
                    "x": -1.5248174667358398,
                    "y": 9.748915672302246,
                    "z": 0.15803417563438416
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8994622230529785,
                "transform": {
                    "location": {
                        "x": 963.990234375,
                        "y": 3378.631103515625,
                        "z": 369.98089599609375
                    },
                    "rotation": {
                        "roll": 0.0008238831651397049,
                        "pitch": 0.38275694847106934,
                        "yaw": 99.12884521484375
                    }
                },
                "velocity": {
                    "x": -1.2554643154144287,
                    "y": 7.798586368560791,
                    "z": 0.08580072224140167
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045182228088379,
                "transform": {
                    "location": {
                        "x": 961.0762329101562,
                        "y": 3396.7451171875,
                        "z": 370.16839599609375
                    },
                    "rotation": {
                        "roll": 2.6681401976702546e-08,
                        "pitch": 0.48994311690330505,
                        "yaw": 99.16256713867188
                    }
                },
                "velocity": {
                    "x": -1.2784725427627563,
                    "y": 7.942645072937012,
                    "z": 0.06969354301691055
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165126085281372,
                "transform": {
                    "location": {
                        "x": 952.4839477539062,
                        "y": 3424.6865234375,
                        "z": 370.36761474609375
                    },
                    "rotation": {
                        "roll": -0.0005798328784294426,
                        "pitch": 0.0765664130449295,
                        "yaw": 99.14205932617188
                    }
                },
                "velocity": {
                    "x": -0.5026544332504272,
                    "y": 3.1248860359191895,
                    "z": 0.021192532032728195
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626319885253906,
                "transform": {
                    "location": {
                        "x": 953.978515625,
                        "y": 3415.3984375,
                        "z": 370.3082275390625
                    },
                    "rotation": {
                        "roll": -0.000305214460240677,
                        "pitch": 0.6058104038238525,
                        "yaw": 99.14152526855469
                    }
                },
                "velocity": {
                    "x": -0.5024492144584656,
                    "y": 3.1223933696746826,
                    "z": 0.021133603528141975
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12723831832408905,
        "expert_target_speed": 7.947191061552282,
        "target_point": [
            12.760123776884393,
            0.14495674697447924
        ],
        "target_point_next": [
            63.73887927153213,
            1.6148183719761988
        ]
    },
    "265": {
        "acceleration": [
            0.9179580211639404,
            -7.122955322265625,
            -0.07940933108329773
        ],
        "angular_velocity": [
            -0.9958574175834656,
            0.03702528029680252,
            -0.20604608952999115
        ],
        "forward_vector": [
            -0.12411434203386307,
            0.9922678470611572,
            0.0003645419783424586
        ],
        "right_vector": [
            -0.9922675490379333,
            -0.12411395460367203,
            -0.000944057828746736
        ],
        "location": [
            960.159912109375,
            3381.5693359375,
            370.02056884765625
        ],
        "rotation": [
            0.05409054085612297,
            0.02088671736419201,
            97.1296157836914
        ],
        "velocity": [
            -0.6748331189155579,
            5.5212812423706055,
            0.06133083254098892
        ],
        "speed": 5.562368766608233,
        "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": 35.18058776855469,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                953.8528442382812,
                3416.1787109375,
                370.3135986328125
            ],
            "velocity": [
                -0.5025612711906433,
                3.1223390102386475,
                0.02226255275309086
            ],
            "speed_kmh": 11.385374563117548,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.421928882598877,
                "transform": {
                    "location": {
                        "x": 957.8207397460938,
                        "y": 3438.3662109375,
                        "z": 370.4620361328125
                    },
                    "rotation": {
                        "roll": 0.008489890024065971,
                        "pitch": -0.6990971565246582,
                        "yaw": -80.29032897949219
                    }
                },
                "velocity": {
                    "x": 0.8993353247642517,
                    "y": -5.346712589263916,
                    "z": -0.03424329683184624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.102954864501953,
                "transform": {
                    "location": {
                        "x": 961.6387329101562,
                        "y": 3435.15576171875,
                        "z": 370.4451599121094
                    },
                    "rotation": {
                        "roll": -0.007904047146439552,
                        "pitch": -0.3142091631889343,
                        "yaw": -80.36090850830078
                    }
                },
                "velocity": {
                    "x": 1.0027421712875366,
                    "y": -6.019886493682861,
                    "z": -0.0391489677131176
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.088471412658691,
                "transform": {
                    "location": {
                        "x": 964.8042602539062,
                        "y": 3395.291259765625,
                        "z": 370.14013671875
                    },
                    "rotation": {
                        "roll": -0.0011291891569271684,
                        "pitch": -0.5222498774528503,
                        "yaw": -80.83393096923828
                    }
                },
                "velocity": {
                    "x": 1.2884092330932617,
                    "y": -7.984825134277344,
                    "z": -0.07702474296092987
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055431365966797,
                "transform": {
                    "location": {
                        "x": 968.4286499023438,
                        "y": 3393.2265625,
                        "z": 370.1253356933594
                    },
                    "rotation": {
                        "roll": 0.0001912012230604887,
                        "pitch": -0.5649453997612,
                        "yaw": -80.84310150146484
                    }
                },
                "velocity": {
                    "x": 1.2819225788116455,
                    "y": -7.95237398147583,
                    "z": -0.0800110399723053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.2718505859375,
                        "y": 3307.759033203125,
                        "z": 368.9670715332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.15953540802002,
                "transform": {
                    "location": {
                        "x": 971.5562133789062,
                        "y": 3353.34619140625,
                        "z": 369.66558837890625
                    },
                    "rotation": {
                        "roll": 0.00012343494745437056,
                        "pitch": -0.7750556468963623,
                        "yaw": -80.9236068725586
                    }
                },
                "velocity": {
                    "x": 1.2931773662567139,
                    "y": -8.055655479431152,
                    "z": -0.11014865338802338
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055362701416016,
                "transform": {
                    "location": {
                        "x": 975.3363037109375,
                        "y": 3350.30419921875,
                        "z": 369.6194763183594
                    },
                    "rotation": {
                        "roll": 0.0009243176900781691,
                        "pitch": -0.7586358785629272,
                        "yaw": -80.86061096191406
                    }
                },
                "velocity": {
                    "x": 1.2793569564819336,
                    "y": -7.952403545379639,
                    "z": -0.10668300092220306
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.945902824401855,
                "transform": {
                    "location": {
                        "x": 969.6798706054688,
                        "y": 3343.2841796875,
                        "z": 369.57440185546875
                    },
                    "rotation": {
                        "roll": -0.0010681395651772618,
                        "pitch": 0.8665460348129272,
                        "yaw": 99.1420669555664
                    }
                },
                "velocity": {
                    "x": -1.4206793308258057,
                    "y": 8.831438064575195,
                    "z": 0.1286018192768097
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.6195068359375,
                        "y": 3309.6142578125,
                        "z": 368.9844055175781
                    },
                    "rotation": {
                        "roll": 1.0673903716451605e-07,
                        "pitch": -1.0328611135482788,
                        "yaw": -82.78528594970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.3726196289062,
                        "y": 3309.401123046875,
                        "z": 368.9906921386719
                    },
                    "rotation": {
                        "roll": 1.0673903716451605e-07,
                        "pitch": -1.0328611135482788,
                        "yaw": -82.78528594970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.569079399108887,
                "transform": {
                    "location": {
                        "x": 966.6520385742188,
                        "y": 3362.099853515625,
                        "z": 369.7911376953125
                    },
                    "rotation": {
                        "roll": -3.0471348509308882e-05,
                        "pitch": 0.70407634973526,
                        "yaw": 99.14324951171875
                    }
                },
                "velocity": {
                    "x": -1.3615041971206665,
                    "y": 8.459603309631348,
                    "z": 0.10269584506750107
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9034769535064697,
                "transform": {
                    "location": {
                        "x": 951.4574584960938,
                        "y": 3436.38720703125,
                        "z": 370.4537048339844
                    },
                    "rotation": {
                        "roll": 0.003128230571746826,
                        "pitch": 0.34711703658103943,
                        "yaw": 99.62395477294922
                    }
                },
                "velocity": {
                    "x": -0.6469200849533081,
                    "y": 3.8494367599487305,
                    "z": 0.021521015092730522
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.3298950195312,
                        "y": 3456.1220703125,
                        "z": 370.56573486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.138665199279785,
                "transform": {
                    "location": {
                        "x": 972.7313842773438,
                        "y": 3324.242431640625,
                        "z": 369.24517822265625
                    },
                    "rotation": {
                        "roll": -0.01214598212391138,
                        "pitch": 0.8699679970741272,
                        "yaw": 98.98178100585938
                    }
                },
                "velocity": {
                    "x": -1.4276636838912964,
                    "y": 9.02527141571045,
                    "z": 0.14646852016448975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.186426639556885,
                "transform": {
                    "location": {
                        "x": 963.6970825195312,
                        "y": 3380.45361328125,
                        "z": 370.00128173828125
                    },
                    "rotation": {
                        "roll": 0.0030450879130512476,
                        "pitch": 0.2851262390613556,
                        "yaw": 99.14974975585938
                    }
                },
                "velocity": {
                    "x": -1.14077627658844,
                    "y": 7.094857215881348,
                    "z": 0.07975731045007706
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044492721557617,
                "transform": {
                    "location": {
                        "x": 960.7565307617188,
                        "y": 3398.73046875,
                        "z": 370.1854553222656
                    },
                    "rotation": {
                        "roll": 3.07369846268557e-05,
                        "pitch": 0.49267518520355225,
                        "yaw": 99.13545227050781
                    }
                },
                "velocity": {
                    "x": -1.2781298160552979,
                    "y": 7.94201135635376,
                    "z": 0.06856435537338257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649348735809326,
                "transform": {
                    "location": {
                        "x": 952.358154296875,
                        "y": 3425.4677734375,
                        "z": 370.372802734375
                    },
                    "rotation": {
                        "roll": -0.0005798327038064599,
                        "pitch": 0.06205226480960846,
                        "yaw": 99.14289093017578
                    }
                },
                "velocity": {
                    "x": -0.5029147863388062,
                    "y": 3.1246533393859863,
                    "z": 0.020784759894013405
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626040935516357,
                "transform": {
                    "location": {
                        "x": 953.8528442382812,
                        "y": 3416.1787109375,
                        "z": 370.3135986328125
                    },
                    "rotation": {
                        "roll": 0.00021353538613766432,
                        "pitch": 0.6061724424362183,
                        "yaw": 99.14103698730469
                    }
                },
                "velocity": {
                    "x": -0.5025612711906433,
                    "y": 3.1223390102386475,
                    "z": 0.02226255275309086
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07625500112771988,
        "expert_target_speed": 6.556898992995953,
        "target_point": [
            11.1271239105103,
            0.2248254844912161
        ],
        "target_point_next": [
            62.09559661416225,
            2.01613652303688
        ]
    },
    "270": {
        "acceleration": [
            0.17634034156799316,
            -1.9098758697509766,
            0.003968402743339539
        ],
        "angular_velocity": [
            0.8640756607055664,
            0.3400888442993164,
            0.12746411561965942
        ],
        "forward_vector": [
            -0.12239975482225418,
            0.9924803376197815,
            0.0010181661928072572
        ],
        "right_vector": [
            -0.9924808740615845,
            -0.12239981442689896,
            -5.53973950445652e-06
        ],
        "location": [
            960.0081787109375,
            3382.80078125,
            370.03369140625
        ],
        "rotation": [
            0.0003174038720317185,
            0.058336641639471054,
            97.03062438964844
        ],
        "velocity": [
            -0.5517969727516174,
            4.463205337524414,
            0.048798415809869766
        ],
        "speed": 4.497185985040453,
        "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": 34.73202896118164,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                953.727294921875,
                3416.958984375,
                370.3189392089844
            ],
            "velocity": [
                -0.5020238757133484,
                3.1223580837249756,
                0.02166515216231346
            ],
            "speed_kmh": 11.385120153197722,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.515405654907227,
                "transform": {
                    "location": {
                        "x": 958.0480346679688,
                        "y": 3437.014892578125,
                        "z": 370.4529113769531
                    },
                    "rotation": {
                        "roll": 0.003580603050068021,
                        "pitch": -0.46224668622016907,
                        "yaw": -80.3893814086914
                    }
                },
                "velocity": {
                    "x": 0.9121332168579102,
                    "y": -5.439358234405518,
                    "z": -0.03308877721428871
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.572675704956055,
                "transform": {
                    "location": {
                        "x": 961.8953857421875,
                        "y": 3433.61376953125,
                        "z": 370.43597412109375
                    },
                    "rotation": {
                        "roll": -0.004425072576850653,
                        "pitch": -0.4052692651748657,
                        "yaw": -80.48558044433594
                    }
                },
                "velocity": {
                    "x": 1.0724658966064453,
                    "y": -6.484452247619629,
                    "z": -0.04193342477083206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028568267822266,
                "transform": {
                    "location": {
                        "x": 965.1251220703125,
                        "y": 3393.3017578125,
                        "z": 370.1213073730469
                    },
                    "rotation": {
                        "roll": -0.0014648271026089787,
                        "pitch": -0.5673564672470093,
                        "yaw": -80.83748626708984
                    }
                },
                "velocity": {
                    "x": 1.2783145904541016,
                    "y": -7.925753593444824,
                    "z": -0.07897725701332092
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057845115661621,
                "transform": {
                    "location": {
                        "x": 968.7491455078125,
                        "y": 3391.23828125,
                        "z": 370.1054992675781
                    },
                    "rotation": {
                        "roll": -0.00024416440282948315,
                        "pitch": -0.5642077326774597,
                        "yaw": -80.84363555908203
                    }
                },
                "velocity": {
                    "x": 1.2821786403656006,
                    "y": -7.954779624938965,
                    "z": -0.07981650531291962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.9859008789062,
                        "y": 3309.931884765625,
                        "z": 369.0059814453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.431098937988281,
                "transform": {
                    "location": {
                        "x": 971.8727416992188,
                        "y": 3351.373046875,
                        "z": 369.63897705078125
                    },
                    "rotation": {
                        "roll": -0.0009154895669780672,
                        "pitch": -0.7771593928337097,
                        "yaw": -80.87908935546875
                    }
                },
                "velocity": {
                    "x": 1.1776970624923706,
                    "y": -7.336520195007324,
                    "z": -0.09865543246269226
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089014053344727,
                "transform": {
                    "location": {
                        "x": 975.6569213867188,
                        "y": 3348.31201171875,
                        "z": 369.59228515625
                    },
                    "rotation": {
                        "roll": 0.00026042512035928667,
                        "pitch": -0.7807315587997437,
                        "yaw": -80.8570556640625
                    }
                },
                "velocity": {
                    "x": 1.285177230834961,
                    "y": -7.985474586486816,
                    "z": -0.11250237375497818
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9664788246154785,
                "transform": {
                    "location": {
                        "x": 969.3462524414062,
                        "y": 3345.359375,
                        "z": 369.6056213378906
                    },
                    "rotation": {
                        "roll": 0.001565209706313908,
                        "pitch": 0.7552617788314819,
                        "yaw": 99.13059997558594
                    }
                },
                "velocity": {
                    "x": -1.2643966674804688,
                    "y": 7.864642143249512,
                    "z": 0.11615727841854095
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4825,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.8639526367188,
                        "y": 3307.5439453125,
                        "z": 368.9485778808594
                    },
                    "rotation": {
                        "roll": 1.0673903716451605e-07,
                        "pitch": -1.0328611135482788,
                        "yaw": -82.78528594970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4824,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.6167602539062,
                        "y": 3307.330810546875,
                        "z": 368.9526062011719
                    },
                    "rotation": {
                        "roll": 1.0673903716451605e-07,
                        "pitch": -1.0328611135482788,
                        "yaw": -82.78528594970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.796783447265625,
                "transform": {
                    "location": {
                        "x": 966.3232421875,
                        "y": 3364.142333984375,
                        "z": 369.8160705566406
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": 0.5828336477279663,
                        "yaw": 99.14283752441406
                    }
                },
                "velocity": {
                    "x": -1.238755464553833,
                    "y": 7.697166442871094,
                    "z": 0.0945872887969017
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.639004707336426,
                "transform": {
                    "location": {
                        "x": 951.2797241210938,
                        "y": 3437.443359375,
                        "z": 370.4598693847656
                    },
                    "rotation": {
                        "roll": 0.0026058852672576904,
                        "pitch": 0.34833961725234985,
                        "yaw": 99.58168029785156
                    }
                },
                "velocity": {
                    "x": -0.7684405446052551,
                    "y": 4.574843883514404,
                    "z": 0.02582581527531147
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.1513671875,
                        "y": 3457.23046875,
                        "z": 370.5709228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.511310577392578,
                "transform": {
                    "location": {
                        "x": 972.3912353515625,
                        "y": 3326.388427734375,
                        "z": 369.2799987792969
                    },
                    "rotation": {
                        "roll": -0.0062560755759477615,
                        "pitch": 0.8342870473861694,
                        "yaw": 99.0126953125
                    }
                },
                "velocity": {
                    "x": -1.333796501159668,
                    "y": 8.405065536499023,
                    "z": 0.13517892360687256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.894721031188965,
                "transform": {
                    "location": {
                        "x": 963.3999633789062,
                        "y": 3382.30078125,
                        "z": 370.0203857421875
                    },
                    "rotation": {
                        "roll": 0.0017832581652328372,
                        "pitch": 0.6791666746139526,
                        "yaw": 99.12406921386719
                    }
                },
                "velocity": {
                    "x": -1.2525421380996704,
                    "y": 7.794251918792725,
                    "z": 0.08598899841308594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044760704040527,
                "transform": {
                    "location": {
                        "x": 960.4366455078125,
                        "y": 3400.716064453125,
                        "z": 370.2026062011719
                    },
                    "rotation": {
                        "roll": 0.000746812904253602,
                        "pitch": 0.49448516964912415,
                        "yaw": 99.1686019897461
                    }
                },
                "velocity": {
                    "x": -1.280150294303894,
                    "y": 7.941953182220459,
                    "z": 0.06908649206161499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650850772857666,
                "transform": {
                    "location": {
                        "x": 952.2324829101562,
                        "y": 3426.2490234375,
                        "z": 370.37786865234375
                    },
                    "rotation": {
                        "roll": 0.0010424215579405427,
                        "pitch": 0.0628240779042244,
                        "yaw": 99.14279174804688
                    }
                },
                "velocity": {
                    "x": -0.502923846244812,
                    "y": 3.124807357788086,
                    "z": 0.02023673988878727
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625332832336426,
                "transform": {
                    "location": {
                        "x": 953.727294921875,
                        "y": 3416.958984375,
                        "z": 370.3189392089844
                    },
                    "rotation": {
                        "roll": 0.0003299486415926367,
                        "pitch": 0.6067188382148743,
                        "yaw": 99.13956451416016
                    }
                },
                "velocity": {
                    "x": -0.5020238757133484,
                    "y": 3.1223580837249756,
                    "z": 0.02166515216231346
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03270404413342476,
        "expert_target_speed": 5.582988968128019,
        "target_point": [
            9.885960783701163,
            0.24418719660734722
        ],
        "target_point_next": [
            60.85126234725109,
            2.1235598355868097
        ]
    },
    "275": {
        "acceleration": [
            -0.5636799335479736,
            4.134349822998047,
            0.09920939803123474
        ],
        "angular_velocity": [
            2.150886058807373,
            0.32325100898742676,
            0.4621124863624573
        ],
        "forward_vector": [
            -0.12403032183647156,
            0.9922299981117249,
            0.009803613647818565
        ],
        "right_vector": [
            -0.9922769665718079,
            -0.12404090911149979,
            0.00047721524606458843
        ],
        "location": [
            959.8588256835938,
            3383.98876953125,
            370.04486083984375
        ],
        "rotation": [
            -0.027343735098838806,
            0.5617147088050842,
            97.12510681152344
        ],
        "velocity": [
            -0.6544642448425293,
            5.153362274169922,
            0.05773650109767914
        ],
        "speed": 5.194753716646737,
        "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": 34.326744079589844,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                953.6016845703125,
                3417.7392578125,
                370.32427978515625
            ],
            "velocity": [
                -0.5026243925094604,
                3.122236490249634,
                0.02201772667467594
            ],
            "speed_kmh": 11.385040132831588,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.864348888397217,
                "transform": {
                    "location": {
                        "x": 958.3369140625,
                        "y": 3435.291748046875,
                        "z": 370.4396057128906
                    },
                    "rotation": {
                        "roll": 0.004388407338410616,
                        "pitch": 0.21614132821559906,
                        "yaw": -80.46910095214844
                    }
                },
                "velocity": {
                    "x": 1.297700047492981,
                    "y": -7.756386756896973,
                    "z": -0.04923602566123009
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.249936103820801,
                "transform": {
                    "location": {
                        "x": 962.1828002929688,
                        "y": 3431.87939453125,
                        "z": 370.42474365234375
                    },
                    "rotation": {
                        "roll": -0.002136226976290345,
                        "pitch": -0.42480358481407166,
                        "yaw": -80.55754089355469
                    }
                },
                "velocity": {
                    "x": 1.182271957397461,
                    "y": -7.152738571166992,
                    "z": -0.046236421912908554
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07298755645752,
                "transform": {
                    "location": {
                        "x": 965.4451904296875,
                        "y": 3391.3154296875,
                        "z": 370.1014709472656
                    },
                    "rotation": {
                        "roll": 0.00020857094204984605,
                        "pitch": -0.5625616908073425,
                        "yaw": -80.84757995605469
                    }
                },
                "velocity": {
                    "x": 1.283950924873352,
                    "y": -7.969831466674805,
                    "z": -0.07986145466566086
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05314826965332,
                "transform": {
                    "location": {
                        "x": 969.0694580078125,
                        "y": 3389.250244140625,
                        "z": 370.0857849121094
                    },
                    "rotation": {
                        "roll": -0.00018308988364879042,
                        "pitch": -0.561974287033081,
                        "yaw": -80.84739685058594
                    }
                },
                "velocity": {
                    "x": 1.2808597087860107,
                    "y": -7.950239658355713,
                    "z": -0.07928568869829178
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.694091796875,
                        "y": 3312.092041015625,
                        "z": 369.0440979003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.839064121246338,
                "transform": {
                    "location": {
                        "x": 972.1488037109375,
                        "y": 3349.65673828125,
                        "z": 369.6161193847656
                    },
                    "rotation": {
                        "roll": 0.00016591438907198608,
                        "pitch": -0.7830470204353333,
                        "yaw": -80.92003631591797
                    }
                },
                "velocity": {
                    "x": 1.0850720405578613,
                    "y": -6.751816272735596,
                    "z": -0.09163638204336166
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055185317993164,
                "transform": {
                    "location": {
                        "x": 975.9775390625,
                        "y": 3346.3203125,
                        "z": 369.5643615722656
                    },
                    "rotation": {
                        "roll": -0.00018312687461730093,
                        "pitch": -0.8280852437019348,
                        "yaw": -80.85456848144531
                    }
                },
                "velocity": {
                    "x": 1.280202865600586,
                    "y": -7.951998710632324,
                    "z": -0.11318328976631165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.130273818969727,
                "transform": {
                    "location": {
                        "x": 969.0316162109375,
                        "y": 3347.3154296875,
                        "z": 369.6325988769531
                    },
                    "rotation": {
                        "roll": 0.0005555646494030952,
                        "pitch": 0.7806427478790283,
                        "yaw": 99.1409683227539
                    }
                },
                "velocity": {
                    "x": -1.2910783290863037,
                    "y": 8.026374816894531,
                    "z": 0.10850440710783005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.269212245941162,
                "transform": {
                    "location": {
                        "x": 966.0294799804688,
                        "y": 3365.96826171875,
                        "z": 369.8380126953125
                    },
                    "rotation": {
                        "roll": 0.0009604885126464069,
                        "pitch": 0.5645082592964172,
                        "yaw": 99.13955688476562
                    }
                },
                "velocity": {
                    "x": -1.154664158821106,
                    "y": 7.176398277282715,
                    "z": 0.08663835376501083
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.198554515838623,
                "transform": {
                    "location": {
                        "x": 951.0718383789062,
                        "y": 3438.6796875,
                        "z": 370.46728515625
                    },
                    "rotation": {
                        "roll": 0.0014944645809009671,
                        "pitch": 0.34670037031173706,
                        "yaw": 99.54966735839844
                    }
                },
                "velocity": {
                    "x": -0.8602043986320496,
                    "y": 5.1267924308776855,
                    "z": 0.03190826252102852
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.9983520507812,
                        "y": 3458.181884765625,
                        "z": 370.5754699707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.995441436767578,
                "transform": {
                    "location": {
                        "x": 972.0452880859375,
                        "y": 3328.557373046875,
                        "z": 369.3149108886719
                    },
                    "rotation": {
                        "roll": -0.005096391774713993,
                        "pitch": 0.9479072690010071,
                        "yaw": 99.07231140136719
                    }
                },
                "velocity": {
                    "x": -1.419503927230835,
                    "y": 8.881592750549316,
                    "z": 0.14242438971996307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.756678581237793,
                "transform": {
                    "location": {
                        "x": 963.071533203125,
                        "y": 3384.34375,
                        "z": 370.04217529296875
                    },
                    "rotation": {
                        "roll": -0.0018920832080766559,
                        "pitch": 0.8889763951301575,
                        "yaw": 99.17605590820312
                    }
                },
                "velocity": {
                    "x": -1.3924932479858398,
                    "y": 8.644766807556152,
                    "z": 0.09160234034061432
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044898986816406,
                "transform": {
                    "location": {
                        "x": 960.1167602539062,
                        "y": 3402.701416015625,
                        "z": 370.2198486328125
                    },
                    "rotation": {
                        "roll": 0.00021825400472152978,
                        "pitch": 0.4945944547653198,
                        "yaw": 99.13658142089844
                    }
                },
                "velocity": {
                    "x": -1.2798250913619995,
                    "y": 7.9421515464782715,
                    "z": 0.06842774897813797
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165119171142578,
                "transform": {
                    "location": {
                        "x": 952.106689453125,
                        "y": 3427.0302734375,
                        "z": 370.3829650878906
                    },
                    "rotation": {
                        "roll": -0.00042724725790321827,
                        "pitch": 0.06378713250160217,
                        "yaw": 99.14337921142578
                    }
                },
                "velocity": {
                    "x": -0.5028773546218872,
                    "y": 3.124842882156372,
                    "z": 0.021232862025499344
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162511110305786,
                "transform": {
                    "location": {
                        "x": 953.6016845703125,
                        "y": 3417.7392578125,
                        "z": 370.32427978515625
                    },
                    "rotation": {
                        "roll": 1.7343249055556953e-05,
                        "pitch": 0.6069305539131165,
                        "yaw": 99.1405258178711
                    }
                },
                "velocity": {
                    "x": -0.5026243925094604,
                    "y": 3.122236490249634,
                    "z": 0.02201772667467594
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -5.7834633480524644e-05,
        "expert_target_speed": 6.224418041435756,
        "target_point": [
            8.689010585510534,
            0.227037834481554
        ],
        "target_point_next": [
            59.65734219440413,
            2.022358971656274
        ]
    },
    "280": {
        "acceleration": [
            -0.1428544521331787,
            0.2856636047363281,
            -0.007950589060783386
        ],
        "angular_velocity": [
            -0.19157350063323975,
            -0.0018936919514089823,
            0.7166499495506287
        ],
        "forward_vector": [
            -0.12641969323158264,
            0.9919156432151794,
            0.01101698074489832
        ],
        "right_vector": [
            -0.9919746518135071,
            -0.12643460929393768,
            0.0006657489575445652
        ],
        "location": [
            959.6923828125,
            3385.287841796875,
            370.0582275390625
        ],
        "rotation": [
            -0.03814692422747612,
            0.6312392354011536,
            97.26319122314453
        ],
        "velocity": [
            -0.6763889789581299,
            5.192054271697998,
            0.052723463624715805
        ],
        "speed": 5.235926814911898,
        "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": 33.809181213378906,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                953.4761352539062,
                3418.51953125,
                370.32965087890625
            ],
            "velocity": [
                -0.5016869902610779,
                3.1221835613250732,
                0.021765470504760742
            ],
            "speed_kmh": 11.384309867627282,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.30244255065918,
                "transform": {
                    "location": {
                        "x": 958.6731567382812,
                        "y": 3433.264404296875,
                        "z": 370.427490234375
                    },
                    "rotation": {
                        "roll": 0.02217106893658638,
                        "pitch": 0.01271781139075756,
                        "yaw": -80.60191345214844
                    }
                },
                "velocity": {
                    "x": 1.3471981287002563,
                    "y": -8.192240715026855,
                    "z": -0.05302075669169426
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.61106014251709,
                "transform": {
                    "location": {
                        "x": 962.5219116210938,
                        "y": 3429.822998046875,
                        "z": 370.411865234375
                    },
                    "rotation": {
                        "roll": -0.004669213201850653,
                        "pitch": -0.4820542335510254,
                        "yaw": -80.63774108886719
                    }
                },
                "velocity": {
                    "x": 1.3880786895751953,
                    "y": -8.498260498046875,
                    "z": -0.0562908835709095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029871940612793,
                "transform": {
                    "location": {
                        "x": 965.765380859375,
                        "y": 3389.328125,
                        "z": 370.0816955566406
                    },
                    "rotation": {
                        "roll": -0.00027466146275401115,
                        "pitch": -0.560847282409668,
                        "yaw": -80.84907531738281
                    }
                },
                "velocity": {
                    "x": 1.2770168781280518,
                    "y": -7.927286624908447,
                    "z": -0.0786391943693161
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063586235046387,
                "transform": {
                    "location": {
                        "x": 969.3897705078125,
                        "y": 3387.261474609375,
                        "z": 370.0658874511719
                    },
                    "rotation": {
                        "roll": 0.0006137872696854174,
                        "pitch": -0.5732099413871765,
                        "yaw": -80.85274505615234
                    }
                },
                "velocity": {
                    "x": 1.2818619012832642,
                    "y": -7.960606098175049,
                    "z": -0.08362627774477005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.38623046875,
                        "y": 3314.240234375,
                        "z": 369.0809020996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.514636039733887,
                "transform": {
                    "location": {
                        "x": 972.4312133789062,
                        "y": 3347.8984375,
                        "z": 369.5915832519531
                    },
                    "rotation": {
                        "roll": 0.0008600669098086655,
                        "pitch": -0.7654114365577698,
                        "yaw": -80.87879180908203
                    }
                },
                "velocity": {
                    "x": 1.1937391757965088,
                    "y": -7.418478012084961,
                    "z": -0.10452745109796524
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089642524719238,
                "transform": {
                    "location": {
                        "x": 976.29833984375,
                        "y": 3344.32763671875,
                        "z": 369.5352783203125
                    },
                    "rotation": {
                        "roll": 0.0003224396496079862,
                        "pitch": -0.8247658014297485,
                        "yaw": -80.85404968261719
                    }
                },
                "velocity": {
                    "x": 1.2857110500335693,
                    "y": -7.985973834991455,
                    "z": -0.11615399271249771
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.68973445892334,
                "transform": {
                    "location": {
                        "x": 968.6911010742188,
                        "y": 3349.430908203125,
                        "z": 369.66107177734375
                    },
                    "rotation": {
                        "roll": -0.0014037955552339554,
                        "pitch": 0.8045552372932434,
                        "yaw": 99.14128112792969
                    }
                },
                "velocity": {
                    "x": -1.3808602094650269,
                    "y": 8.578550338745117,
                    "z": 0.1148381233215332
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.086548805236816,
                "transform": {
                    "location": {
                        "x": 965.7266235351562,
                        "y": 3367.849853515625,
                        "z": 369.86041259765625
                    },
                    "rotation": {
                        "roll": 0.00046564184594899416,
                        "pitch": 0.767091691493988,
                        "yaw": 99.1426010131836
                    }
                },
                "velocity": {
                    "x": -1.2848037481307983,
                    "y": 7.983288288116455,
                    "z": 0.09303662925958633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.089517593383789,
                "transform": {
                    "location": {
                        "x": 950.8422241210938,
                        "y": 3440.053955078125,
                        "z": 370.475341796875
                    },
                    "rotation": {
                        "roll": 0.0023107947781682014,
                        "pitch": 0.3507370352745056,
                        "yaw": 99.4778060913086
                    }
                },
                "velocity": {
                    "x": -0.9916840195655823,
                    "y": 6.008127689361572,
                    "z": 0.034466102719306946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.8154296875,
                        "y": 3459.318603515625,
                        "z": 370.5805358886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.23051643371582,
                "transform": {
                    "location": {
                        "x": 971.7062377929688,
                        "y": 3330.677001953125,
                        "z": 369.3485107421875
                    },
                    "rotation": {
                        "roll": -0.0038756681606173515,
                        "pitch": 0.8124783039093018,
                        "yaw": 99.09043884277344
                    }
                },
                "velocity": {
                    "x": -1.3012038469314575,
                    "y": 8.126015663146973,
                    "z": 0.1270599365234375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.472229957580566,
                "transform": {
                    "location": {
                        "x": 962.7221069335938,
                        "y": 3386.513671875,
                        "z": 370.0655517578125
                    },
                    "rotation": {
                        "roll": -0.00027469368069432676,
                        "pitch": 0.6687096357345581,
                        "yaw": 99.14128875732422
                    }
                },
                "velocity": {
                    "x": -1.3460297584533691,
                    "y": 8.364168167114258,
                    "z": 0.08704524487257004
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045267105102539,
                "transform": {
                    "location": {
                        "x": 959.7971801757812,
                        "y": 3404.6865234375,
                        "z": 370.2361145019531
                    },
                    "rotation": {
                        "roll": 0.0005399220972321928,
                        "pitch": 0.45506131649017334,
                        "yaw": 99.15876007080078
                    }
                },
                "velocity": {
                    "x": -1.2778890132904053,
                    "y": 7.942868709564209,
                    "z": 0.06440930813550949
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650609970092773,
                "transform": {
                    "location": {
                        "x": 951.9810180664062,
                        "y": 3427.8115234375,
                        "z": 370.3880920410156
                    },
                    "rotation": {
                        "roll": -0.00036621239269152284,
                        "pitch": 0.06318607926368713,
                        "yaw": 99.14244079589844
                    }
                },
                "velocity": {
                    "x": -0.5027181506156921,
                    "y": 3.124814987182617,
                    "z": 0.020397061482071877
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.16230845451355,
                "transform": {
                    "location": {
                        "x": 953.4761352539062,
                        "y": 3418.51953125,
                        "z": 370.32965087890625
                    },
                    "rotation": {
                        "roll": -0.00024411283084191382,
                        "pitch": 0.6056464910507202,
                        "yaw": 99.13868713378906
                    }
                },
                "velocity": {
                    "x": -0.5016869902610779,
                    "y": 3.1221835613250732,
                    "z": 0.021765470504760742
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03773428127169609,
        "expert_target_speed": 6.260408074103514,
        "target_point": [
            58.3523518813751,
            1.8777001884479425
        ],
        "target_point_next": [
            109.32510466713985,
            3.550142846042533
        ]
    },
    "285": {
        "acceleration": [
            -0.7244729995727539,
            4.697151184082031,
            0.022785961627960205
        ],
        "angular_velocity": [
            0.6652441620826721,
            0.1363285332918167,
            0.9643610715866089
        ],
        "forward_vector": [
            -0.13031622767448425,
            0.9913146495819092,
            0.017688782885670662
        ],
        "right_vector": [
            -0.9914673566818237,
            -0.13035202026367188,
            0.0008808363927528262
        ],
        "location": [
            959.4900512695312,
            3386.8193359375,
            370.0724182128906
        ],
        "rotation": [
            -0.050476111471652985,
            1.0135453939437866,
            97.48904418945312
        ],
        "velocity": [
            -0.9196987152099609,
            6.843785762786865,
            0.067436084151268
        ],
        "speed": 6.90530587980598,
        "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": 33.056671142578125,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                953.3505249023438,
                3419.2998046875,
                370.33502197265625
            ],
            "velocity": [
                -0.5024187564849854,
                3.122150421142578,
                0.021630048751831055
            ],
            "speed_kmh": 11.384606963211573,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.828825950622559,
                "transform": {
                    "location": {
                        "x": 958.9979248046875,
                        "y": 3431.2861328125,
                        "z": 370.416015625
                    },
                    "rotation": {
                        "roll": 0.014343314804136753,
                        "pitch": -0.3658112585544586,
                        "yaw": -80.69000244140625
                    }
                },
                "velocity": {
                    "x": 1.2641584873199463,
                    "y": -7.7259087562561035,
                    "z": -0.05247897654771805
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034915924072266,
                "transform": {
                    "location": {
                        "x": 962.85693359375,
                        "y": 3427.7724609375,
                        "z": 370.3972473144531
                    },
                    "rotation": {
                        "roll": -0.002044662367552519,
                        "pitch": -0.33319026231765747,
                        "yaw": -80.72041320800781
                    }
                },
                "velocity": {
                    "x": 1.2914570569992065,
                    "y": -7.930274486541748,
                    "z": -0.052580587565898895
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077561378479004,
                "transform": {
                    "location": {
                        "x": 966.0852661132812,
                        "y": 3387.33984375,
                        "z": 370.06207275390625
                    },
                    "rotation": {
                        "roll": 0.0006212300504557788,
                        "pitch": -0.560300886631012,
                        "yaw": -80.85935974121094
                    }
                },
                "velocity": {
                    "x": 1.2831276655197144,
                    "y": -7.974603176116943,
                    "z": -0.07929437607526779
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050216674804688,
                "transform": {
                    "location": {
                        "x": 969.7096557617188,
                        "y": 3385.27294921875,
                        "z": 370.0450439453125
                    },
                    "rotation": {
                        "roll": -0.00012209692795295268,
                        "pitch": -0.6267381310462952,
                        "yaw": -80.85697937011719
                    }
                },
                "velocity": {
                    "x": 1.279105305671692,
                    "y": -7.947508811950684,
                    "z": -0.08361656218767166
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.0918579101562,
                        "y": 3316.279052734375,
                        "z": 369.11566162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.529293060302734,
                "transform": {
                    "location": {
                        "x": 972.7445068359375,
                        "y": 3345.951904296875,
                        "z": 369.5643005371094
                    },
                    "rotation": {
                        "roll": 0.0007198276580311358,
                        "pitch": -0.7979709506034851,
                        "yaw": -80.90864562988281
                    }
                },
                "velocity": {
                    "x": 1.3547697067260742,
                    "y": -8.420156478881836,
                    "z": -0.12000127881765366
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055931091308594,
                "transform": {
                    "location": {
                        "x": 976.6190185546875,
                        "y": 3342.33544921875,
                        "z": 369.5062561035156
                    },
                    "rotation": {
                        "roll": 0.0001003821162157692,
                        "pitch": -0.8231470584869385,
                        "yaw": -80.85389709472656
                    }
                },
                "velocity": {
                    "x": 1.2803688049316406,
                    "y": -7.952696323394775,
                    "z": -0.11531782895326614
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.171265602111816,
                "transform": {
                    "location": {
                        "x": 968.3602294921875,
                        "y": 3351.486083984375,
                        "z": 369.689208984375
                    },
                    "rotation": {
                        "roll": -0.0018310397863388062,
                        "pitch": 0.7311648726463318,
                        "yaw": 99.14765930175781
                    }
                },
                "velocity": {
                    "x": -1.2986003160476685,
                    "y": 8.066695213317871,
                    "z": 0.10789670795202255
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.83113956451416,
                "transform": {
                    "location": {
                        "x": 965.3837280273438,
                        "y": 3369.981201171875,
                        "z": 369.88525390625
                    },
                    "rotation": {
                        "roll": -0.00042722313082776964,
                        "pitch": 0.8114810585975647,
                        "yaw": 99.14049530029297
                    }
                },
                "velocity": {
                    "x": -1.40365469455719,
                    "y": 8.718265533447266,
                    "z": 0.1030791848897934
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.835809707641602,
                "transform": {
                    "location": {
                        "x": 950.58349609375,
                        "y": 3441.62109375,
                        "z": 370.48443603515625
                    },
                    "rotation": {
                        "roll": 0.0021600481122732162,
                        "pitch": 0.35195961594581604,
                        "yaw": 99.3697738647461
                    }
                },
                "velocity": {
                    "x": -1.1074804067611694,
                    "y": 6.745388507843018,
                    "z": 0.03893878683447838
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.612548828125,
                        "y": 3460.5791015625,
                        "z": 370.58599853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.541070938110352,
                "transform": {
                    "location": {
                        "x": 971.378662109375,
                        "y": 3332.720947265625,
                        "z": 369.3805236816406
                    },
                    "rotation": {
                        "roll": -0.0021361445542424917,
                        "pitch": 0.9107441902160645,
                        "yaw": 99.11162567138672
                    }
                },
                "velocity": {
                    "x": -1.3532055616378784,
                    "y": 8.432169914245605,
                    "z": 0.13130013644695282
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.603832721710205,
                "transform": {
                    "location": {
                        "x": 962.4022216796875,
                        "y": 3388.501220703125,
                        "z": 370.0865173339844
                    },
                    "rotation": {
                        "roll": -3.052304600714706e-05,
                        "pitch": 0.37098854780197144,
                        "yaw": 99.14095306396484
                    }
                },
                "velocity": {
                    "x": -1.2070707082748413,
                    "y": 7.507053852081299,
                    "z": 0.07344949245452881
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046185493469238,
                "transform": {
                    "location": {
                        "x": 959.4778442382812,
                        "y": 3406.67236328125,
                        "z": 370.2517395019531
                    },
                    "rotation": {
                        "roll": 0.0004216955276206136,
                        "pitch": 0.4212792217731476,
                        "yaw": 99.12435150146484
                    }
                },
                "velocity": {
                    "x": -1.2780200242996216,
                    "y": 7.94381856918335,
                    "z": 0.059319037944078445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651604175567627,
                "transform": {
                    "location": {
                        "x": 951.8552856445312,
                        "y": 3428.5927734375,
                        "z": 370.3931579589844
                    },
                    "rotation": {
                        "roll": 0.00010123559331987053,
                        "pitch": 0.06320656836032867,
                        "yaw": 99.14265441894531
                    }
                },
                "velocity": {
                    "x": -0.5029963254928589,
                    "y": 3.124870777130127,
                    "z": 0.020439863204956055
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162390947341919,
                "transform": {
                    "location": {
                        "x": 953.3505249023438,
                        "y": 3419.2998046875,
                        "z": 370.33502197265625
                    },
                    "rotation": {
                        "roll": 0.00014795127208344638,
                        "pitch": 0.6072515845298767,
                        "yaw": 99.13990020751953
                    }
                },
                "velocity": {
                    "x": -0.5024187564849854,
                    "y": 3.122150421142578,
                    "z": 0.021630048751831055
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07159020006656647,
        "expert_target_speed": 7.691969456166036,
        "target_point": [
            56.814497820810246,
            1.6467060917723888
        ],
        "target_point_next": [
            107.79344628319728,
            3.1182374950783878
        ]
    },
    "290": {
        "acceleration": [
            -0.5663728713989258,
            2.9123878479003906,
            0.02531781792640686
        ],
        "angular_velocity": [
            -0.555331826210022,
            -0.04004513472318649,
            1.162506341934204
        ],
        "forward_vector": [
            -0.13507933914661407,
            0.990647554397583,
            0.019262192770838737
        ],
        "right_vector": [
            -0.9908280968666077,
            -0.13512428104877472,
            0.0010453619761392474
        ],
        "location": [
            959.234130859375,
            3388.69677734375,
            370.0904541015625
        ],
        "rotation": [
            -0.05990595743060112,
            1.103710651397705,
            97.76465606689453
        ],
        "velocity": [
            -1.1144179105758667,
            8.01816177368164,
            0.07831136882305145
        ],
        "speed": 8.095235976075175,
        "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": 31.954164505004883,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                953.2249755859375,
                3420.079833984375,
                370.34033203125
            ],
            "velocity": [
                -0.5022945404052734,
                3.1223840713500977,
                0.021203432232141495
            ],
            "speed_kmh": 11.385355970335189,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.6224975585938,
                        "y": 3465.957763671875,
                        "z": 370.7364807128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.096755981445312,
                "transform": {
                    "location": {
                        "x": 959.3173217773438,
                        "y": 3429.33056640625,
                        "z": 370.4029235839844
                    },
                    "rotation": {
                        "roll": 0.013690094463527203,
                        "pitch": -0.32586830854415894,
                        "yaw": -80.73069763183594
                    }
                },
                "velocity": {
                    "x": 1.2993084192276,
                    "y": -7.991649627685547,
                    "z": -0.052904143929481506
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.877662658691406,
                "transform": {
                    "location": {
                        "x": 963.173583984375,
                        "y": 3425.82861328125,
                        "z": 370.38433837890625
                    },
                    "rotation": {
                        "roll": -0.0022887992672622204,
                        "pitch": -0.3618702292442322,
                        "yaw": -80.74553680419922
                    }
                },
                "velocity": {
                    "x": 1.2643858194351196,
                    "y": -7.775354385375977,
                    "z": -0.052600882947444916
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027664184570312,
                "transform": {
                    "location": {
                        "x": 966.4049682617188,
                        "y": 3385.353271484375,
                        "z": 370.04144287109375
                    },
                    "rotation": {
                        "roll": 1.3340953046281356e-05,
                        "pitch": -0.6035428047180176,
                        "yaw": -80.86039733886719
                    }
                },
                "velocity": {
                    "x": 1.2750216722488403,
                    "y": -7.925286293029785,
                    "z": -0.0868537575006485
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063797950744629,
                "transform": {
                    "location": {
                        "x": 970.0297241210938,
                        "y": 3383.28466796875,
                        "z": 370.0230712890625
                    },
                    "rotation": {
                        "roll": 6.929329538252205e-05,
                        "pitch": -0.6333907246589661,
                        "yaw": -80.85895538330078
                    }
                },
                "velocity": {
                    "x": 1.2802798748016357,
                    "y": -7.961027145385742,
                    "z": -0.08818800747394562
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.7581787109375,
                        "y": 3318.44921875,
                        "z": 369.1513977050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.484221458435059,
                "transform": {
                    "location": {
                        "x": 973.0883178710938,
                        "y": 3343.81689453125,
                        "z": 369.53338623046875
                    },
                    "rotation": {
                        "roll": 0.001666549826040864,
                        "pitch": -0.8193904161453247,
                        "yaw": -80.95323181152344
                    }
                },
                "velocity": {
                    "x": 1.3463022708892822,
                    "y": -8.375826835632324,
                    "z": -0.12252437323331833
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089740753173828,
                "transform": {
                    "location": {
                        "x": 976.9398193359375,
                        "y": 3340.343017578125,
                        "z": 369.4772644042969
                    },
                    "rotation": {
                        "roll": -0.0001830999826779589,
                        "pitch": -0.8232699632644653,
                        "yaw": -80.8539810180664
                    }
                },
                "velocity": {
                    "x": 1.2857167720794678,
                    "y": -7.986079692840576,
                    "z": -0.11562813818454742
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.81161117553711,
                "transform": {
                    "location": {
                        "x": 968.0235595703125,
                        "y": 3353.57861328125,
                        "z": 369.716552734375
                    },
                    "rotation": {
                        "roll": -0.00042722272337414324,
                        "pitch": 0.8077312707901001,
                        "yaw": 99.13851165771484
                    }
                },
                "velocity": {
                    "x": -1.3997950553894043,
                    "y": 8.698943138122559,
                    "z": 0.11600019037723541
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.703721046447754,
                "transform": {
                    "location": {
                        "x": 965.032958984375,
                        "y": 3372.161376953125,
                        "z": 369.9107666015625
                    },
                    "rotation": {
                        "roll": -0.0003966862568631768,
                        "pitch": 0.68538898229599,
                        "yaw": 99.14190673828125
                    }
                },
                "velocity": {
                    "x": -1.3826839923858643,
                    "y": 8.592585563659668,
                    "z": 0.10210433602333069
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.813393592834473,
                "transform": {
                    "location": {
                        "x": 950.284423828125,
                        "y": 3443.44189453125,
                        "z": 370.4949951171875
                    },
                    "rotation": {
                        "roll": 0.001404336653649807,
                        "pitch": 0.3479229807853699,
                        "yaw": 99.32125854492188
                    }
                },
                "velocity": {
                    "x": -1.2637372016906738,
                    "y": 7.710404396057129,
                    "z": 0.04183640331029892
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.3483276367188,
                        "y": 3462.220458984375,
                        "z": 370.59320068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.702248573303223,
                "transform": {
                    "location": {
                        "x": 971.0298461914062,
                        "y": 3334.89453125,
                        "z": 369.41448974609375
                    },
                    "rotation": {
                        "roll": -0.0018615683075040579,
                        "pitch": 0.9105597734451294,
                        "yaw": 99.11924743652344
                    }
                },
                "velocity": {
                    "x": -1.3797026872634888,
                    "y": 8.59112548828125,
                    "z": 0.13459113240242004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.855917453765869,
                "transform": {
                    "location": {
                        "x": 962.121826171875,
                        "y": 3390.244384765625,
                        "z": 370.1039733886719
                    },
                    "rotation": {
                        "roll": 8.408414578298107e-05,
                        "pitch": 0.24751920998096466,
                        "yaw": 99.11504364013672
                    }
                },
                "velocity": {
                    "x": -1.0880759954452515,
                    "y": 6.768687725067139,
                    "z": 0.06751208752393723
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04472827911377,
                "transform": {
                    "location": {
                        "x": 959.1585693359375,
                        "y": 3408.657958984375,
                        "z": 370.2663879394531
                    },
                    "rotation": {
                        "roll": 0.0005976312095299363,
                        "pitch": 0.42382004857063293,
                        "yaw": 99.15357208251953
                    }
                },
                "velocity": {
                    "x": -1.2771037817001343,
                    "y": 7.942490577697754,
                    "z": 0.059212520718574524
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652908325195312,
                "transform": {
                    "location": {
                        "x": 951.7296142578125,
                        "y": 3429.3740234375,
                        "z": 370.3982849121094
                    },
                    "rotation": {
                        "roll": 0.00025289389304816723,
                        "pitch": 0.06324071437120438,
                        "yaw": 99.14335632324219
                    }
                },
                "velocity": {
                    "x": -0.5032299160957336,
                    "y": 3.124957799911499,
                    "z": 0.021543558686971664
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625988483428955,
                "transform": {
                    "location": {
                        "x": 953.2249755859375,
                        "y": 3420.079833984375,
                        "z": 370.34033203125
                    },
                    "rotation": {
                        "roll": 0.002083671046420932,
                        "pitch": 0.605851411819458,
                        "yaw": 99.13898468017578
                    }
                },
                "velocity": {
                    "x": -0.5022945404052734,
                    "y": 3.1223840713500977,
                    "z": 0.021203432232141495
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09350927919149399,
        "expert_target_speed": 8.612194631338236,
        "target_point": [
            54.926958188441255,
            1.3734545957491529
        ],
        "target_point_next": [
            105.91239566473232,
            2.599732032890964
        ]
    },
    "295": {
        "acceleration": [
            -0.8677220344543457,
            5.811195373535156,
            0.04561960697174072
        ],
        "angular_velocity": [
            0.7592746615409851,
            0.00605169078335166,
            0.6059048175811768
        ],
        "forward_vector": [
            -0.13935352861881256,
            0.9900439977645874,
            0.019835839048027992
        ],
        "right_vector": [
            -0.9902358651161194,
            -0.13939900696277618,
            0.0009223399101756513
        ],
        "location": [
            958.9359741210938,
            3390.81982421875,
            370.1112060546875
        ],
        "rotation": [
            -0.05285659059882164,
            1.1365844011306763,
            98.01202392578125
        ],
        "velocity": [
            -1.3156613111495972,
            9.281084060668945,
            0.09084831178188324
        ],
        "speed": 9.373872520301257,
        "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": 30.603174209594727,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                953.099365234375,
                3420.8603515625,
                370.345703125
            ],
            "velocity": [
                -0.5031692385673523,
                3.122211456298828,
                0.02093488723039627
            ],
            "speed_kmh": 11.385236590103753,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.9710693359375,
                        "y": 3468.1923828125,
                        "z": 370.8157653808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.9520874023438,
                        "y": 3463.9091796875,
                        "z": 370.6307678222656
                    },
                    "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": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.065269470214844,
                "transform": {
                    "location": {
                        "x": 959.6432495117188,
                        "y": 3427.32373046875,
                        "z": 370.38995361328125
                    },
                    "rotation": {
                        "roll": 0.009239261969923973,
                        "pitch": -0.3416460454463959,
                        "yaw": -80.77762603759766
                    }
                },
                "velocity": {
                    "x": 1.290892481803894,
                    "y": -7.961118221282959,
                    "z": -0.05265854671597481
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.156776428222656,
                "transform": {
                    "location": {
                        "x": 963.495849609375,
                        "y": 3423.841064453125,
                        "z": 370.3711242675781
                    },
                    "rotation": {
                        "roll": -0.001129157142713666,
                        "pitch": -0.4055492877960205,
                        "yaw": -80.78568267822266
                    }
                },
                "velocity": {
                    "x": 1.304044485092163,
                    "y": -8.051681518554688,
                    "z": -0.05383903533220291
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079716682434082,
                "transform": {
                    "location": {
                        "x": 966.7247924804688,
                        "y": 3383.365234375,
                        "z": 370.0198059082031
                    },
                    "rotation": {
                        "roll": -0.0003662379167508334,
                        "pitch": -0.6339166760444641,
                        "yaw": -80.86024475097656
                    }
                },
                "velocity": {
                    "x": 1.2833160161972046,
                    "y": -7.976659297943115,
                    "z": -0.08848851174116135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051039695739746,
                "transform": {
                    "location": {
                        "x": 970.3494873046875,
                        "y": 3381.2958984375,
                        "z": 370.0009765625
                    },
                    "rotation": {
                        "roll": 0.000507012358866632,
                        "pitch": -0.6325096487998962,
                        "yaw": -80.86424255371094
                    }
                },
                "velocity": {
                    "x": 1.2782154083251953,
                    "y": -7.948444843292236,
                    "z": -0.08738837391138077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.4337768554688,
                        "y": 3320.5595703125,
                        "z": 369.1862487792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.07803726196289,
                "transform": {
                    "location": {
                        "x": 973.4166259765625,
                        "y": 3341.7802734375,
                        "z": 369.50384521484375
                    },
                    "rotation": {
                        "roll": 0.0032177602406591177,
                        "pitch": -0.8341026306152344,
                        "yaw": -81.0754165649414
                    }
                },
                "velocity": {
                    "x": 1.2802250385284424,
                    "y": -7.975094318389893,
                    "z": -0.11655911803245544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056879043579102,
                "transform": {
                    "location": {
                        "x": 977.260498046875,
                        "y": 3338.350830078125,
                        "z": 369.4474792480469
                    },
                    "rotation": {
                        "roll": 0.00010467920947121456,
                        "pitch": -0.8639164566993713,
                        "yaw": -80.85718536376953
                    }
                },
                "velocity": {
                    "x": 1.2799581289291382,
                    "y": -7.953613758087158,
                    "z": -0.12266511470079422
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.198294639587402,
                "transform": {
                    "location": {
                        "x": 967.6832885742188,
                        "y": 3355.693359375,
                        "z": 369.7452392578125
                    },
                    "rotation": {
                        "roll": -6.104948988649994e-05,
                        "pitch": 0.7093424201011658,
                        "yaw": 99.14564514160156
                    }
                },
                "velocity": {
                    "x": -1.304022192955017,
                    "y": 8.093268394470215,
                    "z": 0.10276218503713608
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.432162284851074,
                "transform": {
                    "location": {
                        "x": 964.7120971679688,
                        "y": 3374.1552734375,
                        "z": 369.93408203125
                    },
                    "rotation": {
                        "roll": 9.936129936249927e-05,
                        "pitch": 0.4737555682659149,
                        "yaw": 99.1421127319336
                    }
                },
                "velocity": {
                    "x": -1.180748462677002,
                    "y": 7.337254524230957,
                    "z": 0.08697465807199478
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.233161926269531,
                "transform": {
                    "location": {
                        "x": 949.9574584960938,
                        "y": 3445.440185546875,
                        "z": 370.50604248046875
                    },
                    "rotation": {
                        "roll": 0.0025390926748514175,
                        "pitch": 0.3086220920085907,
                        "yaw": 99.27703094482422
                    }
                },
                "velocity": {
                    "x": -1.3230006694793701,
                    "y": 8.126044273376465,
                    "z": 0.045079782605171204
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.0403442382812,
                        "y": 3464.13525390625,
                        "z": 370.6015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.573554039001465,
                "transform": {
                    "location": {
                        "x": 970.6918334960938,
                        "y": 3336.998779296875,
                        "z": 369.4471740722656
                    },
                    "rotation": {
                        "roll": -0.002075202064588666,
                        "pitch": 0.868998110294342,
                        "yaw": 99.12677764892578
                    }
                },
                "velocity": {
                    "x": -1.3611952066421509,
                    "y": 8.463818550109863,
                    "z": 0.129455104470253
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.545083522796631,
                "transform": {
                    "location": {
                        "x": 961.8385620117188,
                        "y": 3392.007080078125,
                        "z": 370.1201171875
                    },
                    "rotation": {
                        "roll": -0.0009155114530585706,
                        "pitch": 0.6147443056106567,
                        "yaw": 99.14482116699219
                    }
                },
                "velocity": {
                    "x": -1.1982769966125488,
                    "y": 7.448966979980469,
                    "z": 0.07288064807653427
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046441078186035,
                "transform": {
                    "location": {
                        "x": 958.8392944335938,
                        "y": 3410.6435546875,
                        "z": 370.2811279296875
                    },
                    "rotation": {
                        "roll": -0.0003051657695323229,
                        "pitch": 0.42539098858833313,
                        "yaw": 99.12242889404297
                    }
                },
                "velocity": {
                    "x": -1.2779247760772705,
                    "y": 7.944089889526367,
                    "z": 0.059701528400182724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165105104446411,
                "transform": {
                    "location": {
                        "x": 951.6038208007812,
                        "y": 3430.1552734375,
                        "z": 370.4033203125
                    },
                    "rotation": {
                        "roll": -0.0001220696940436028,
                        "pitch": 0.06313826888799667,
                        "yaw": 99.14282989501953
                    }
                },
                "velocity": {
                    "x": -0.5028743147850037,
                    "y": 3.1248278617858887,
                    "z": 0.021400317549705505
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625657081604004,
                "transform": {
                    "location": {
                        "x": 953.099365234375,
                        "y": 3420.8603515625,
                        "z": 370.345703125
                    },
                    "rotation": {
                        "roll": 0.0058191376738250256,
                        "pitch": 0.6045673489570618,
                        "yaw": 99.1406478881836
                    }
                },
                "velocity": {
                    "x": -0.5031692385673523,
                    "y": 3.122211456298828,
                    "z": 0.02093488723039627
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10870759189128876,
        "expert_target_speed": 9.490418120929402,
        "target_point": [
            52.78849531075397,
            1.1369604385098562
        ],
        "target_point_next": [
            103.77875204152275,
            2.143096379582161
        ]
    },
    "300": {
        "acceleration": [
            -0.6183886528015137,
            3.6801528930664062,
            -0.004067569971084595
        ],
        "angular_velocity": [
            -0.5431052446365356,
            -0.10682801902294159,
            0.5212823748588562
        ],
        "forward_vector": [
            -0.14161324501037598,
            0.9897372126579285,
            0.019127989187836647
        ],
        "right_vector": [
            -0.9899159669876099,
            -0.1416538506746292,
            0.0007780343294143677
        ],
        "location": [
            958.5858154296875,
            3393.276123046875,
            370.1354675292969
        ],
        "rotation": [
            -0.044586244970560074,
            1.0960198640823364,
            98.14270782470703
        ],
        "velocity": [
            -1.4765968322753906,
            10.270552635192871,
            0.09858781844377518
        ],
        "speed": 10.376154858007515,
        "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": 28.915151596069336,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                952.9738159179688,
                3421.640625,
                370.35101318359375
            ],
            "velocity": [
                -0.5017087459564209,
                3.122187376022339,
                0.021199483424425125
            ],
            "speed_kmh": 11.384322010088441,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.301513671875,
                        "y": 3466.138916015625,
                        "z": 370.6851806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.9684014320373535,
                "transform": {
                    "location": {
                        "x": 957.2767944335938,
                        "y": 3461.892822265625,
                        "z": 370.59954833984375
                    },
                    "rotation": {
                        "roll": -0.003906228579580784,
                        "pitch": -0.3982546627521515,
                        "yaw": -80.84777069091797
                    }
                },
                "velocity": {
                    "x": 1.1135445833206177,
                    "y": -6.877694606781006,
                    "z": -0.12629762291908264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.966801166534424,
                "transform": {
                    "location": {
                        "x": 959.962646484375,
                        "y": 3425.354248046875,
                        "z": 370.3769836425781
                    },
                    "rotation": {
                        "roll": 0.0035806468222290277,
                        "pitch": -0.4151320457458496,
                        "yaw": -80.79183197021484
                    }
                },
                "velocity": {
                    "x": 1.2747406959533691,
                    "y": -7.863977909088135,
                    "z": -0.05299937725067139
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.986886978149414,
                "transform": {
                    "location": {
                        "x": 963.8187255859375,
                        "y": 3421.8486328125,
                        "z": 370.3572692871094
                    },
                    "rotation": {
                        "roll": -0.0007324204780161381,
                        "pitch": -0.38049614429473877,
                        "yaw": -80.79792022705078
                    }
                },
                "velocity": {
                    "x": 1.275444746017456,
                    "y": -7.884212017059326,
                    "z": -0.052971743047237396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.026787757873535,
                "transform": {
                    "location": {
                        "x": 967.0444946289062,
                        "y": 3381.3779296875,
                        "z": 369.9976806640625
                    },
                    "rotation": {
                        "roll": -0.00021364311396609992,
                        "pitch": -0.6307337880134583,
                        "yaw": -80.86027526855469
                    }
                },
                "velocity": {
                    "x": 1.2749049663543701,
                    "y": -7.924407005310059,
                    "z": -0.08785537630319595
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063072204589844,
                "transform": {
                    "location": {
                        "x": 970.6693725585938,
                        "y": 3379.30712890625,
                        "z": 369.97882080078125
                    },
                    "rotation": {
                        "roll": -0.0007629996980540454,
                        "pitch": -0.6311640739440918,
                        "yaw": -80.86481475830078
                    }
                },
                "velocity": {
                    "x": 1.2800889015197754,
                    "y": -7.960323810577393,
                    "z": -0.08800946176052094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.0907592773438,
                        "y": 3322.716552734375,
                        "z": 369.2213134765625
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.155561447143555,
                "transform": {
                    "location": {
                        "x": 973.7275390625,
                        "y": 3339.8388671875,
                        "z": 369.4757995605469
                    },
                    "rotation": {
                        "roll": 0.002581482520326972,
                        "pitch": -0.8510414958000183,
                        "yaw": -81.00694274902344
                    }
                },
                "velocity": {
                    "x": 1.134411334991455,
                    "y": -7.064316272735596,
                    "z": -0.10299850255250931
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089364051818848,
                "transform": {
                    "location": {
                        "x": 977.5809936523438,
                        "y": 3336.358642578125,
                        "z": 369.4167785644531
                    },
                    "rotation": {
                        "roll": -0.0006409151246771216,
                        "pitch": -0.8939829468727112,
                        "yaw": -80.86207580566406
                    }
                },
                "velocity": {
                    "x": 1.2843403816223145,
                    "y": -7.985780239105225,
                    "z": -0.12485656142234802
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.43900203704834,
                "transform": {
                    "location": {
                        "x": 967.3572998046875,
                        "y": 3357.717041015625,
                        "z": 369.7707824707031
                    },
                    "rotation": {
                        "roll": 0.0007959901704452932,
                        "pitch": 0.7018496990203857,
                        "yaw": 99.14342498779297
                    }
                },
                "velocity": {
                    "x": -1.3397904634475708,
                    "y": 8.331332206726074,
                    "z": 0.10304498672485352
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.330994129180908,
                "transform": {
                    "location": {
                        "x": 964.4366455078125,
                        "y": 3375.8662109375,
                        "z": 369.95367431640625
                    },
                    "rotation": {
                        "roll": 0.0004446137463673949,
                        "pitch": 0.4060342311859131,
                        "yaw": 99.14567565917969
                    }
                },
                "velocity": {
                    "x": -1.0061311721801758,
                    "y": 6.250128269195557,
                    "z": 0.07134042680263519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.123873710632324,
                "transform": {
                    "location": {
                        "x": 949.6287231445312,
                        "y": 3447.461181640625,
                        "z": 370.51678466796875
                    },
                    "rotation": {
                        "roll": 1.5995121430023573e-05,
                        "pitch": 0.2913212180137634,
                        "yaw": 99.2254867553711
                    }
                },
                "velocity": {
                    "x": -1.3008885383605957,
                    "y": 8.018932342529297,
                    "z": 0.04161836579442024
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7093505859375,
                        "y": 3466.19140625,
                        "z": 370.6102600097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.550423622131348,
                "transform": {
                    "location": {
                        "x": 970.344970703125,
                        "y": 3339.155517578125,
                        "z": 369.4797058105469
                    },
                    "rotation": {
                        "roll": -0.0008544738520868123,
                        "pitch": 0.8158387541770935,
                        "yaw": 99.13958740234375
                    }
                },
                "velocity": {
                    "x": -1.3580039739608765,
                    "y": 8.440926551818848,
                    "z": 0.12776225805282593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.414225578308105,
                "transform": {
                    "location": {
                        "x": 961.5162353515625,
                        "y": 3394.010498046875,
                        "z": 370.1387939453125
                    },
                    "rotation": {
                        "roll": -0.00042728218249976635,
                        "pitch": 0.8636773824691772,
                        "yaw": 99.1241455078125
                    }
                },
                "velocity": {
                    "x": -1.3360267877578735,
                    "y": 8.307103157043457,
                    "z": 0.07909669727087021
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045370101928711,
                "transform": {
                    "location": {
                        "x": 958.5198364257812,
                        "y": 3412.62939453125,
                        "z": 370.29595947265625
                    },
                    "rotation": {
                        "roll": 0.0003564869984984398,
                        "pitch": 0.425910085439682,
                        "yaw": 99.15274047851562
                    }
                },
                "velocity": {
                    "x": -1.277230143547058,
                    "y": 7.943121910095215,
                    "z": 0.058912694454193115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165095329284668,
                "transform": {
                    "location": {
                        "x": 951.4780883789062,
                        "y": 3430.9365234375,
                        "z": 370.4084167480469
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": 0.06371200084686279,
                        "yaw": 99.14238739013672
                    }
                },
                "velocity": {
                    "x": -0.5028362274169922,
                    "y": 3.124823808670044,
                    "z": 0.021483907476067543
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162311553955078,
                "transform": {
                    "location": {
                        "x": 952.9738159179688,
                        "y": 3421.640625,
                        "z": 370.35101318359375
                    },
                    "rotation": {
                        "roll": -0.000854515063110739,
                        "pitch": 0.6059470176696777,
                        "yaw": 99.13909149169922
                    }
                },
                "velocity": {
                    "x": -0.5017087459564209,
                    "y": 3.122187376022339,
                    "z": 0.021199483424425125
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.12680776417255402,
        "expert_target_speed": 10.0,
        "target_point": [
            50.309819375079805,
            1.0178539001359708
        ],
        "target_point_next": [
            101.30223798152532,
            1.907705385867482
        ]
    },
    "305": {
        "acceleration": [
            0.0758671760559082,
            -0.3028678894042969,
            0.004493743181228638
        ],
        "angular_velocity": [
            -1.4146947860717773,
            -0.42140722274780273,
            -0.19443368911743164
        ],
        "forward_vector": [
            -0.14197412133216858,
            0.9897692203521729,
            0.01415193546563387
        ],
        "right_vector": [
            -0.9898675680160522,
            -0.14199310541152954,
            0.0003413837112020701
        ],
        "location": [
            958.209716796875,
            3395.898681640625,
            370.1607360839844
        ],
        "rotation": [
            -0.019561804831027985,
            0.8108732104301453,
            98.16291809082031
        ],
        "velocity": [
            -1.5120420455932617,
            10.563573837280273,
            0.09514030069112778
        ],
        "speed": 10.671240010575815,
        "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": 27.059404373168945,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                952.8482666015625,
                3422.4208984375,
                370.3563537597656
            ],
            "velocity": [
                -0.5022560358047485,
                3.1222293376922607,
                0.02231943979859352
            ],
            "speed_kmh": 11.38481164305047,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.610771656036377,
                "transform": {
                    "location": {
                        "x": 953.6245727539062,
                        "y": 3464.13671875,
                        "z": 370.58587646484375
                    },
                    "rotation": {
                        "roll": -0.01516722608357668,
                        "pitch": -0.5118748545646667,
                        "yaw": -80.83280181884766
                    }
                },
                "velocity": {
                    "x": 1.0715725421905518,
                    "y": -6.5165534019470215,
                    "z": -0.29759520292282104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.654557704925537,
                "transform": {
                    "location": {
                        "x": 957.5596923828125,
                        "y": 3460.2255859375,
                        "z": 370.578857421875
                    },
                    "rotation": {
                        "roll": -0.026733381673693657,
                        "pitch": -0.35574355721473694,
                        "yaw": -80.35115051269531
                    }
                },
                "velocity": {
                    "x": 1.1375731229782104,
                    "y": -6.556384563446045,
                    "z": -0.05372337996959686
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.072409629821777,
                "transform": {
                    "location": {
                        "x": 960.2830810546875,
                        "y": 3423.372802734375,
                        "z": 370.36334228515625
                    },
                    "rotation": {
                        "roll": 0.005673366133123636,
                        "pitch": -0.3729556202888489,
                        "yaw": -80.81642150878906
                    }
                },
                "velocity": {
                    "x": 1.2862112522125244,
                    "y": -7.969104290008545,
                    "z": -0.05325448513031006
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.051046371459961,
                "transform": {
                    "location": {
                        "x": 964.1383666992188,
                        "y": 3419.872802734375,
                        "z": 370.3437805175781
                    },
                    "rotation": {
                        "roll": -0.0008545133168809116,
                        "pitch": -0.3858646750450134,
                        "yaw": -80.81147766113281
                    }
                },
                "velocity": {
                    "x": 1.2829540967941284,
                    "y": -7.947988033294678,
                    "z": -0.05355560779571533
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079893112182617,
                "transform": {
                    "location": {
                        "x": 967.3642578125,
                        "y": 3379.389892578125,
                        "z": 369.9755859375
                    },
                    "rotation": {
                        "roll": 0.00029376911697909236,
                        "pitch": -0.6280768513679504,
                        "yaw": -80.86202239990234
                    }
                },
                "velocity": {
                    "x": 1.2815803289413452,
                    "y": -7.977114677429199,
                    "z": -0.08868254721164703
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052390098571777,
                "transform": {
                    "location": {
                        "x": 970.9891967773438,
                        "y": 3377.318359375,
                        "z": 369.95654296875
                    },
                    "rotation": {
                        "roll": -0.000122123965411447,
                        "pitch": -0.6420855522155762,
                        "yaw": -80.86116027832031
                    }
                },
                "velocity": {
                    "x": 1.2788718938827515,
                    "y": -7.9496660232543945,
                    "z": -0.09100979566574097
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.760498046875,
                        "y": 3324.770751953125,
                        "z": 369.2546691894531
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.722569942474365,
                "transform": {
                    "location": {
                        "x": 973.99560546875,
                        "y": 3338.165771484375,
                        "z": 369.45062255859375
                    },
                    "rotation": {
                        "roll": 0.0007439113105647266,
                        "pitch": -0.8801244497299194,
                        "yaw": -80.91371154785156
                    }
                },
                "velocity": {
                    "x": 1.0675256252288818,
                    "y": -6.6364593505859375,
                    "z": -0.10366097092628479
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.057402610778809,
                "transform": {
                    "location": {
                        "x": 977.9014892578125,
                        "y": 3334.366455078125,
                        "z": 369.385498046875
                    },
                    "rotation": {
                        "roll": 0.0015700111398473382,
                        "pitch": -0.8873849511146545,
                        "yaw": -80.86266326904297
                    }
                },
                "velocity": {
                    "x": 1.2801841497421265,
                    "y": -7.954051494598389,
                    "z": -0.12617772817611694
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.146049499511719,
                "transform": {
                    "location": {
                        "x": 967.0206298828125,
                        "y": 3359.809326171875,
                        "z": 369.7966003417969
                    },
                    "rotation": {
                        "roll": 0.0003017232520505786,
                        "pitch": 0.6759769320487976,
                        "yaw": 99.14897155761719
                    }
                },
                "velocity": {
                    "x": -1.2945365905761719,
                    "y": 8.04192066192627,
                    "z": 0.09903470426797867
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.211309432983398,
                "transform": {
                    "location": {
                        "x": 964.190185546875,
                        "y": 3377.396728515625,
                        "z": 369.97113037109375
                    },
                    "rotation": {
                        "roll": -0.0005798461497761309,
                        "pitch": 0.5546249747276306,
                        "yaw": 99.14571380615234
                    }
                },
                "velocity": {
                    "x": -0.9872270822525024,
                    "y": 6.131975173950195,
                    "z": 0.06803670525550842
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.993471622467041,
                "transform": {
                    "location": {
                        "x": 949.3070068359375,
                        "y": 3449.44580078125,
                        "z": 370.5270080566406
                    },
                    "rotation": {
                        "roll": -0.0005187942297197878,
                        "pitch": 0.29234573245048523,
                        "yaw": 99.20057678222656
                    }
                },
                "velocity": {
                    "x": -1.2770164012908936,
                    "y": 7.8906989097595215,
                    "z": 0.0410391241312027
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.3784790039062,
                        "y": 3468.247802734375,
                        "z": 370.6188659667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.310585021972656,
                "transform": {
                    "location": {
                        "x": 970.0157470703125,
                        "y": 3341.201416015625,
                        "z": 369.5094299316406
                    },
                    "rotation": {
                        "roll": -3.052535976166837e-05,
                        "pitch": 0.7972606420516968,
                        "yaw": 99.13997650146484
                    }
                },
                "velocity": {
                    "x": -1.3208149671554565,
                    "y": 8.204092025756836,
                    "z": 0.11894772946834564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.901697158813477,
                "transform": {
                    "location": {
                        "x": 961.1920776367188,
                        "y": 3396.025146484375,
                        "z": 370.1585388183594
                    },
                    "rotation": {
                        "roll": -0.0007629565079696476,
                        "pitch": 0.5057345032691956,
                        "yaw": 99.15570831298828
                    }
                },
                "velocity": {
                    "x": -1.2564831972122192,
                    "y": 7.800832748413086,
                    "z": 0.07121593505144119
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045760154724121,
                "transform": {
                    "location": {
                        "x": 958.200439453125,
                        "y": 3414.614990234375,
                        "z": 370.3102722167969
                    },
                    "rotation": {
                        "roll": -0.00021362204279284924,
                        "pitch": 0.4004403054714203,
                        "yaw": 99.12553405761719
                    }
                },
                "velocity": {
                    "x": -1.2775717973709106,
                    "y": 7.943479061126709,
                    "z": 0.05668402463197708
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164990186691284,
                "transform": {
                    "location": {
                        "x": 951.3524169921875,
                        "y": 3431.7177734375,
                        "z": 370.4135437011719
                    },
                    "rotation": {
                        "roll": 0.003604561323300004,
                        "pitch": 0.06476385146379471,
                        "yaw": 99.14240264892578
                    }
                },
                "velocity": {
                    "x": -0.5030815601348877,
                    "y": 3.1246821880340576,
                    "z": 0.020799722522497177
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162447690963745,
                "transform": {
                    "location": {
                        "x": 952.8482666015625,
                        "y": 3422.4208984375,
                        "z": 370.3563537597656
                    },
                    "rotation": {
                        "roll": -0.000579851446673274,
                        "pitch": 0.606268048286438,
                        "yaw": 99.1393814086914
                    }
                },
                "velocity": {
                    "x": -0.5022560358047485,
                    "y": 3.1222293376922607,
                    "z": 0.02231943979859352
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15587303042411804,
        "expert_target_speed": 10.0,
        "target_point": [
            47.6607863240856,
            1.0001745636032435
        ],
        "target_point_next": [
            98.65351595640956,
            1.8720206775125305
        ]
    },
    "310": {
        "acceleration": [
            0.23150920867919922,
            -1.3044166564941406,
            -0.015543848276138306
        ],
        "angular_velocity": [
            -0.8310438990592957,
            -0.13621103763580322,
            -0.23893819749355316
        ],
        "forward_vector": [
            -0.14099766314029694,
            0.9899628162384033,
            0.009660809300839901
        ],
        "right_vector": [
            -0.9900088906288147,
            -0.14100518822669983,
            9.746755677042529e-05
        ],
        "location": [
            957.8358154296875,
            3398.51904296875,
            370.1843566894531
        ],
        "rotation": [
            -0.005584740079939365,
            0.5535321831703186,
            98.10596466064453
        ],
        "velocity": [
            -1.4738465547561646,
            10.365346908569336,
            0.08905909955501556
        ],
        "speed": 10.469605541850873,
        "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": 25.206809997558594,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                952.72265625,
                3423.201171875,
                370.3617248535156
            ],
            "velocity": [
                -0.5022861957550049,
                3.1223931312561035,
                0.021718015894293785
            ],
            "speed_kmh": 11.385395970788775,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.303494930267334,
                "transform": {
                    "location": {
                        "x": 953.8900756835938,
                        "y": 3462.558349609375,
                        "z": 370.57354736328125
                    },
                    "rotation": {
                        "roll": -0.04461674392223358,
                        "pitch": -0.6355217695236206,
                        "yaw": -80.49356842041016
                    }
                },
                "velocity": {
                    "x": 1.061335802078247,
                    "y": -6.213471412658691,
                    "z": 0.019703950732946396
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.873874187469482,
                "transform": {
                    "location": {
                        "x": 957.8444213867188,
                        "y": 3458.556884765625,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.003662117989733815,
                        "pitch": -0.2776471674442291,
                        "yaw": -80.31951141357422
                    }
                },
                "velocity": {
                    "x": 1.1537758111953735,
                    "y": -6.77626371383667,
                    "z": -0.0345802865922451
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026763916015625,
                "transform": {
                    "location": {
                        "x": 960.6041870117188,
                        "y": 3421.38427734375,
                        "z": 370.34979248046875
                    },
                    "rotation": {
                        "roll": 0.0012475266121327877,
                        "pitch": -0.39721646904945374,
                        "yaw": -80.83027648925781
                    }
                },
                "velocity": {
                    "x": 1.2789376974105835,
                    "y": -7.92404317855835,
                    "z": -0.052898604422807693
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.023611068725586,
                "transform": {
                    "location": {
                        "x": 964.458984375,
                        "y": 3417.8876953125,
                        "z": 370.3302001953125
                    },
                    "rotation": {
                        "roll": 0.0003284036065451801,
                        "pitch": -0.3892592787742615,
                        "yaw": -80.82389068603516
                    }
                },
                "velocity": {
                    "x": 1.2794839143753052,
                    "y": -7.920759201049805,
                    "z": -0.05329443886876106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027559280395508,
                "transform": {
                    "location": {
                        "x": 967.6838989257812,
                        "y": 3377.40283203125,
                        "z": 369.9535217285156
                    },
                    "rotation": {
                        "roll": -0.00018306543643120676,
                        "pitch": -0.629265308380127,
                        "yaw": -80.86444854736328
                    }
                },
                "velocity": {
                    "x": 1.2744702100753784,
                    "y": -7.925260066986084,
                    "z": -0.08769546449184418
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062753677368164,
                "transform": {
                    "location": {
                        "x": 971.3092041015625,
                        "y": 3375.329833984375,
                        "z": 369.9338073730469
                    },
                    "rotation": {
                        "roll": -0.0011901347897946835,
                        "pitch": -0.6687027812004089,
                        "yaw": -80.85716247558594
                    }
                },
                "velocity": {
                    "x": 1.2810262441635132,
                    "y": -7.959798812866211,
                    "z": -0.09262421727180481
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.419921875,
                        "y": 3326.888427734375,
                        "z": 369.2890625
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.458024024963379,
                "transform": {
                    "location": {
                        "x": 974.2749633789062,
                        "y": 3336.427001953125,
                        "z": 369.423828125
                    },
                    "rotation": {
                        "roll": -0.0004882821231149137,
                        "pitch": -0.8756096959114075,
                        "yaw": -80.83866119384766
                    }
                },
                "velocity": {
                    "x": 1.1870990991592407,
                    "y": -7.362063407897949,
                    "z": -0.11375197768211365
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089824676513672,
                "transform": {
                    "location": {
                        "x": 978.2219848632812,
                        "y": 3332.3740234375,
                        "z": 369.3541564941406
                    },
                    "rotation": {
                        "roll": 0.0010222496930509806,
                        "pitch": -0.8871732354164124,
                        "yaw": -80.86078643798828
                    }
                },
                "velocity": {
                    "x": 1.284783124923706,
                    "y": -7.986155986785889,
                    "z": -0.1261434257030487
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.093873500823975,
                "transform": {
                    "location": {
                        "x": 966.72216796875,
                        "y": 3361.6640625,
                        "z": 369.8199768066406
                    },
                    "rotation": {
                        "roll": -0.0017699981108307838,
                        "pitch": 0.6054279208183289,
                        "yaw": 99.13834381103516
                    }
                },
                "velocity": {
                    "x": -1.1268223524093628,
                    "y": 7.003271102905273,
                    "z": 0.08662259578704834
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.961468696594238,
                "transform": {
                    "location": {
                        "x": 963.9166259765625,
                        "y": 3379.09619140625,
                        "z": 369.9900207519531
                    },
                    "rotation": {
                        "roll": 0.000836429710034281,
                        "pitch": 0.9082580208778381,
                        "yaw": 99.14527130126953
                    }
                },
                "velocity": {
                    "x": -1.2653677463531494,
                    "y": 7.859779357910156,
                    "z": 0.08775993436574936
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.057282447814941,
                "transform": {
                    "location": {
                        "x": 948.9867553710938,
                        "y": 3451.425537109375,
                        "z": 370.53729248046875
                    },
                    "rotation": {
                        "roll": 0.00017625321925152093,
                        "pitch": 0.29468849301338196,
                        "yaw": 99.1822280883789
                    }
                },
                "velocity": {
                    "x": -1.2848881483078003,
                    "y": 7.954066753387451,
                    "z": 0.04107315093278885
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.0475463867188,
                        "y": 3470.303955078125,
                        "z": 370.6275634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.66771125793457,
                "transform": {
                    "location": {
                        "x": 969.6728515625,
                        "y": 3343.33154296875,
                        "z": 369.5403747558594
                    },
                    "rotation": {
                        "roll": -0.0014648678479716182,
                        "pitch": 0.8624001145362854,
                        "yaw": 99.14883422851562
                    }
                },
                "velocity": {
                    "x": -1.377800464630127,
                    "y": 8.556591033935547,
                    "z": 0.12506817281246185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.987810134887695,
                "transform": {
                    "location": {
                        "x": 960.8800659179688,
                        "y": 3397.96240234375,
                        "z": 370.1756896972656
                    },
                    "rotation": {
                        "roll": -0.000549342657905072,
                        "pitch": 0.4813097417354584,
                        "yaw": 99.1365737915039
                    }
                },
                "velocity": {
                    "x": -1.2690118551254272,
                    "y": 7.88606595993042,
                    "z": 0.06843147426843643
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046136856079102,
                "transform": {
                    "location": {
                        "x": 957.8807373046875,
                        "y": 3416.6005859375,
                        "z": 370.3240966796875
                    },
                    "rotation": {
                        "roll": -0.0007629177416674793,
                        "pitch": 0.38947784900665283,
                        "yaw": 99.16217803955078
                    }
                },
                "velocity": {
                    "x": -1.279706597328186,
                    "y": 7.943530082702637,
                    "z": 0.05476713180541992
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651644706726074,
                "transform": {
                    "location": {
                        "x": 951.2266845703125,
                        "y": 3432.4990234375,
                        "z": 370.4186096191406
                    },
                    "rotation": {
                        "roll": 0.005073219537734985,
                        "pitch": 0.06457943469285965,
                        "yaw": 99.14228057861328
                    }
                },
                "velocity": {
                    "x": -0.5028324127197266,
                    "y": 3.124896287918091,
                    "z": 0.021217966452240944
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626100540161133,
                "transform": {
                    "location": {
                        "x": 952.72265625,
                        "y": 3423.201171875,
                        "z": 370.3617248535156
                    },
                    "rotation": {
                        "roll": -0.0002746637037489563,
                        "pitch": 0.6068896055221558,
                        "yaw": 99.13939666748047
                    }
                },
                "velocity": {
                    "x": -0.5022861957550049,
                    "y": 3.1223931312561035,
                    "z": 0.021718015894293785
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18959879875183105,
        "expert_target_speed": 10.0,
        "target_point": [
            45.01286543484047,
            1.0468751469603133
        ],
        "target_point_next": [
            96.00470307138738,
            1.9694180726101553
        ]
    },
    "315": {
        "acceleration": [
            1.225292682647705,
            -8.364639282226562,
            -0.07010534405708313
        ],
        "angular_velocity": [
            -2.4680590629577637,
            -0.3494337201118469,
            -0.23405896127223969
        ],
        "forward_vector": [
            -0.13998542726039886,
            0.9901407361030579,
            0.005043246317654848
        ],
        "right_vector": [
            -0.9901533126831055,
            -0.13998715579509735,
            -8.242670446634293e-06
        ],
        "location": [
            957.4789428710938,
            3401.037109375,
            370.2069091796875
        ],
        "rotation": [
            0.0004722762096207589,
            0.28895795345306396,
            98.04710388183594
        ],
        "velocity": [
            -1.3279674053192139,
            9.411272048950195,
            0.08068746328353882
        ],
        "speed": 9.504500986845203,
        "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": 23.458484649658203,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                952.5971069335938,
                3423.9814453125,
                370.3670349121094
            ],
            "velocity": [
                -0.5028031468391418,
                3.122239112854004,
                0.02137332782149315
            ],
            "speed_kmh": 11.385135832425421,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.525176525115967,
                "transform": {
                    "location": {
                        "x": 954.1611328125,
                        "y": 3460.974365234375,
                        "z": 370.5743408203125
                    },
                    "rotation": {
                        "roll": -0.028869617730379105,
                        "pitch": -0.38479235768318176,
                        "yaw": -80.30411529541016
                    }
                },
                "velocity": {
                    "x": 1.1080960035324097,
                    "y": -6.430396556854248,
                    "z": -0.007197074592113495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.781829357147217,
                "transform": {
                    "location": {
                        "x": 958.1087036132812,
                        "y": 3457.00341796875,
                        "z": 370.56109619140625
                    },
                    "rotation": {
                        "roll": -0.0015868943883106112,
                        "pitch": -0.3860422670841217,
                        "yaw": -80.34188079833984
                    }
                },
                "velocity": {
                    "x": 0.9689121842384338,
                    "y": -5.700001239776611,
                    "z": -0.027313627302646637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01266098022461,
                "transform": {
                    "location": {
                        "x": 960.923095703125,
                        "y": 3419.408447265625,
                        "z": 370.33624267578125
                    },
                    "rotation": {
                        "roll": 0.001002608216367662,
                        "pitch": -0.3999621868133545,
                        "yaw": -80.83092498779297
                    }
                },
                "velocity": {
                    "x": 1.2767794132232666,
                    "y": -7.910105228424072,
                    "z": -0.05305146053433418
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.060486793518066,
                "transform": {
                    "location": {
                        "x": 964.7791748046875,
                        "y": 3415.90283203125,
                        "z": 370.31658935546875
                    },
                    "rotation": {
                        "roll": -0.0005798322963528335,
                        "pitch": -0.38790690898895264,
                        "yaw": -80.83293151855469
                    }
                },
                "velocity": {
                    "x": 1.2840899229049683,
                    "y": -7.957350254058838,
                    "z": -0.056097548454999924
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079254150390625,
                "transform": {
                    "location": {
                        "x": 968.0037841796875,
                        "y": 3375.41455078125,
                        "z": 369.9308166503906
                    },
                    "rotation": {
                        "roll": 0.00030932651134207845,
                        "pitch": -0.6573168635368347,
                        "yaw": -80.85679626464844
                    }
                },
                "velocity": {
                    "x": 1.283725380897522,
                    "y": -7.976081371307373,
                    "z": -0.09237008541822433
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051081657409668,
                "transform": {
                    "location": {
                        "x": 971.6290893554688,
                        "y": 3373.341064453125,
                        "z": 369.9104309082031
                    },
                    "rotation": {
                        "roll": 0.00011265238572377712,
                        "pitch": -0.666906476020813,
                        "yaw": -80.86040496826172
                    }
                },
                "velocity": {
                    "x": 1.279559850692749,
                    "y": -7.948225975036621,
                    "z": -0.09140143543481827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.0911254882812,
                        "y": 3328.93115234375,
                        "z": 369.3220520019531
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.49356460571289,
                "transform": {
                    "location": {
                        "x": 974.5873413085938,
                        "y": 3334.4921875,
                        "z": 369.393310546875
                    },
                    "rotation": {
                        "roll": -0.00036617665318772197,
                        "pitch": -0.8593401908874512,
                        "yaw": -80.87100982666016
                    }
                },
                "velocity": {
                    "x": 1.3524106740951538,
                    "y": -8.384176254272461,
                    "z": -0.13115279376506805
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.5173950195312,
                        "y": 3330.32470703125,
                        "z": 369.3233947753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9182027578353882,
                        "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": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.467373847961426,
                "transform": {
                    "location": {
                        "x": 966.4370727539062,
                        "y": 3363.435791015625,
                        "z": 369.8408508300781
                    },
                    "rotation": {
                        "roll": 0.0009945075726136565,
                        "pitch": 0.702587366104126,
                        "yaw": 99.1451644897461
                    }
                },
                "velocity": {
                    "x": -1.1862237453460693,
                    "y": 7.372008323669434,
                    "z": 0.08964372426271439
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.143710136413574,
                "transform": {
                    "location": {
                        "x": 963.5685424804688,
                        "y": 3381.25830078125,
                        "z": 370.0140075683594
                    },
                    "rotation": {
                        "roll": 0.0005993165541440248,
                        "pitch": 0.9018444418907166,
                        "yaw": 99.14515686035156
                    }
                },
                "velocity": {
                    "x": -1.4531652927398682,
                    "y": 9.02695083618164,
                    "z": 0.09953633695840836
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045170783996582,
                "transform": {
                    "location": {
                        "x": 948.66552734375,
                        "y": 3453.413330078125,
                        "z": 370.5473327636719
                    },
                    "rotation": {
                        "roll": 0.0008621884044259787,
                        "pitch": 0.2826741933822632,
                        "yaw": 99.17644500732422
                    }
                },
                "velocity": {
                    "x": -1.2823492288589478,
                    "y": 7.942229270935059,
                    "z": 0.0366150364279747
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.7166748046875,
                        "y": 3472.360595703125,
                        "z": 370.63616943359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.844515800476074,
                "transform": {
                    "location": {
                        "x": 969.3482055664062,
                        "y": 3345.348388671875,
                        "z": 369.5696105957031
                    },
                    "rotation": {
                        "roll": 0.0015860170824453235,
                        "pitch": 0.7407817840576172,
                        "yaw": 99.14132690429688
                    }
                },
                "velocity": {
                    "x": -1.2471764087677002,
                    "y": 7.743906497955322,
                    "z": 0.11353599280118942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.588199615478516,
                "transform": {
                    "location": {
                        "x": 960.548095703125,
                        "y": 3400.025146484375,
                        "z": 370.1927185058594
                    },
                    "rotation": {
                        "roll": 0.0012323226546868682,
                        "pitch": 0.6818782091140747,
                        "yaw": 99.16429138183594
                    }
                },
                "velocity": {
                    "x": -1.364854097366333,
                    "y": 8.478741645812988,
                    "z": 0.07274889200925827
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046116828918457,
                "transform": {
                    "location": {
                        "x": 957.5609741210938,
                        "y": 3418.58642578125,
                        "z": 370.337646484375
                    },
                    "rotation": {
                        "roll": -0.00030515113030560315,
                        "pitch": 0.3912195563316345,
                        "yaw": 99.13505554199219
                    }
                },
                "velocity": {
                    "x": -1.2788360118865967,
                    "y": 7.943665981292725,
                    "z": 0.05241130664944649
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651968955993652,
                "transform": {
                    "location": {
                        "x": 951.1008911132812,
                        "y": 3433.2802734375,
                        "z": 370.42376708984375
                    },
                    "rotation": {
                        "roll": 0.004709448199719191,
                        "pitch": 0.06505072116851807,
                        "yaw": 99.14305877685547
                    }
                },
                "velocity": {
                    "x": -0.5028994083404541,
                    "y": 3.124922752380371,
                    "z": 0.02052050456404686
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625378131866455,
                "transform": {
                    "location": {
                        "x": 952.5971069335938,
                        "y": 3423.9814453125,
                        "z": 370.3670349121094
                    },
                    "rotation": {
                        "roll": 0.0006434345268644392,
                        "pitch": 0.6065002679824829,
                        "yaw": 99.14015197753906
                    }
                },
                "velocity": {
                    "x": -0.5028031468391418,
                    "y": 3.122239112854004,
                    "z": 0.02137332782149315
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.31593772768974304,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24198544025421143,
        "expert_target_speed": 9.490285030685232,
        "target_point": [
            42.46853705320977,
            1.0922465788938043
        ],
        "target_point_next": [
            93.45940024250746,
            2.0671630942716828
        ]
    },
    "320": {
        "acceleration": [
            0.7102251052856445,
            -4.027996063232422,
            -0.0820159912109375
        ],
        "angular_velocity": [
            -0.2385728657245636,
            -0.13937532901763916,
            -0.9434609413146973
        ],
        "forward_vector": [
            -0.13730210065841675,
            0.9905292391777039,
            8.678435551701114e-05
        ],
        "right_vector": [
            -0.9905291199684143,
            -0.13730204105377197,
            -0.00045010479516349733
        ],
        "location": [
            957.1768798828125,
            3403.205322265625,
            370.2263488769531
        ],
        "rotation": [
            0.025789106264710426,
            0.004972377326339483,
            97.89176177978516
        ],
        "velocity": [
            -1.109149694442749,
            8.10764217376709,
            0.06653659790754318
        ],
        "speed": 8.183157988364222,
        "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": 22.064468383789062,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                952.471435546875,
                3424.76171875,
                370.37237548828125
            ],
            "velocity": [
                -0.502982497215271,
                3.1223723888397217,
                0.021526630967855453
            ],
            "speed_kmh": 11.385715920978791,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.296252250671387,
                "transform": {
                    "location": {
                        "x": 954.4110717773438,
                        "y": 3459.521484375,
                        "z": 370.5717468261719
                    },
                    "rotation": {
                        "roll": -0.004302964545786381,
                        "pitch": -0.6040346026420593,
                        "yaw": -80.25594329833984
                    }
                },
                "velocity": {
                    "x": 0.8867547512054443,
                    "y": -5.221461772918701,
                    "z": -0.01709236018359661
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.001157283782959,
                "transform": {
                    "location": {
                        "x": 958.35107421875,
                        "y": 3455.576171875,
                        "z": 370.5543212890625
                    },
                    "rotation": {
                        "roll": -0.0021667303517460823,
                        "pitch": -0.282735675573349,
                        "yaw": -80.3561019897461
                    }
                },
                "velocity": {
                    "x": 1.0041943788528442,
                    "y": -5.916470050811768,
                    "z": -0.029343947768211365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.055996894836426,
                "transform": {
                    "location": {
                        "x": 961.2431640625,
                        "y": 3417.423095703125,
                        "z": 370.32257080078125
                    },
                    "rotation": {
                        "roll": 0.0020668460056185722,
                        "pitch": -0.3855914771556854,
                        "yaw": -80.84062194824219
                    }
                },
                "velocity": {
                    "x": 1.2811955213546753,
                    "y": -7.95328950881958,
                    "z": -0.05306719243526459
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005778312683105,
                "transform": {
                    "location": {
                        "x": 965.0988159179688,
                        "y": 3413.921142578125,
                        "z": 370.3022155761719
                    },
                    "rotation": {
                        "roll": 0.0006254854961298406,
                        "pitch": -0.4136977195739746,
                        "yaw": -80.83802032470703
                    }
                },
                "velocity": {
                    "x": 1.2730906009674072,
                    "y": -7.903702259063721,
                    "z": -0.0567622184753418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028237342834473,
                "transform": {
                    "location": {
                        "x": 968.3235473632812,
                        "y": 3373.427490234375,
                        "z": 369.90765380859375
                    },
                    "rotation": {
                        "roll": 0.001105337985791266,
                        "pitch": -0.6664693355560303,
                        "yaw": -80.85935974121094
                    }
                },
                "velocity": {
                    "x": 1.275144100189209,
                    "y": -7.925788879394531,
                    "z": -0.09201584756374359
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063754081726074,
                "transform": {
                    "location": {
                        "x": 971.94921875,
                        "y": 3371.35205078125,
                        "z": 369.8871765136719
                    },
                    "rotation": {
                        "roll": 6.054197365301661e-05,
                        "pitch": -0.6662576198577881,
                        "yaw": -80.85874938964844
                    }
                },
                "velocity": {
                    "x": 1.281015396118164,
                    "y": -7.960806846618652,
                    "z": -0.09315800666809082
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.7743530273438,
                        "y": 3330.900146484375,
                        "z": 369.3539123535156
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.8675537109375,
                        "y": 3332.390869140625,
                        "z": 369.36553955078125
                    },
                    "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": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4827,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.8067626953125,
                        "y": 3328.2607421875,
                        "z": 369.29290771484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9182027578353882,
                        "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": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.7265043258667,
                "transform": {
                    "location": {
                        "x": 966.115966796875,
                        "y": 3365.430908203125,
                        "z": 369.8641357421875
                    },
                    "rotation": {
                        "roll": 0.0004620154795702547,
                        "pitch": 0.7899796366691589,
                        "yaw": 99.13676452636719
                    }
                },
                "velocity": {
                    "x": -1.3864691257476807,
                    "y": 8.615056037902832,
                    "z": 0.10189046710729599
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.458922386169434,
                "transform": {
                    "location": {
                        "x": 963.221435546875,
                        "y": 3383.415771484375,
                        "z": 370.0379333496094
                    },
                    "rotation": {
                        "roll": 0.0003098298329859972,
                        "pitch": 0.5955719947814941,
                        "yaw": 99.13825988769531
                    }
                },
                "velocity": {
                    "x": -1.3432462215423584,
                    "y": 8.35107135772705,
                    "z": 0.09311565011739731
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.072364807128906,
                "transform": {
                    "location": {
                        "x": 948.3446655273438,
                        "y": 3455.40234375,
                        "z": 370.55694580078125
                    },
                    "rotation": {
                        "roll": 0.00023741810582578182,
                        "pitch": 0.25413766503334045,
                        "yaw": 99.16100311279297
                    }
                },
                "velocity": {
                    "x": -1.2848997116088867,
                    "y": 7.969363212585449,
                    "z": 0.036894023418426514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.3856811523438,
                        "y": 3474.416748046875,
                        "z": 370.6448059082031
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.40937614440918,
                "transform": {
                    "location": {
                        "x": 969.0284423828125,
                        "y": 3347.334716796875,
                        "z": 369.59771728515625
                    },
                    "rotation": {
                        "roll": 0.0008588263881392777,
                        "pitch": 0.8306260704994202,
                        "yaw": 99.14615631103516
                    }
                },
                "velocity": {
                    "x": -1.3356273174285889,
                    "y": 8.301820755004883,
                    "z": 0.11609361320734024
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.0241060256958,
                "transform": {
                    "location": {
                        "x": 960.1914672851562,
                        "y": 3402.2392578125,
                        "z": 370.2117004394531
                    },
                    "rotation": {
                        "roll": 0.0008328945841640234,
                        "pitch": 0.71660977602005,
                        "yaw": 99.15394592285156
                    }
                },
                "velocity": {
                    "x": -1.433998942375183,
                    "y": 8.909113883972168,
                    "z": 0.07637592405080795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045726776123047,
                "transform": {
                    "location": {
                        "x": 957.2413330078125,
                        "y": 3420.572509765625,
                        "z": 370.3512268066406
                    },
                    "rotation": {
                        "roll": -0.0005798324709758162,
                        "pitch": 0.3913288414478302,
                        "yaw": 99.15833282470703
                    }
                },
                "velocity": {
                    "x": -1.2781834602355957,
                    "y": 7.943366050720215,
                    "z": 0.053835198283195496
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165205717086792,
                "transform": {
                    "location": {
                        "x": 950.9752197265625,
                        "y": 3434.0615234375,
                        "z": 370.4288330078125
                    },
                    "rotation": {
                        "roll": 0.0002741115167737007,
                        "pitch": 0.06148536130785942,
                        "yaw": 99.14295959472656
                    }
                },
                "velocity": {
                    "x": -0.5029463171958923,
                    "y": 3.124924898147583,
                    "z": 0.020395955070853233
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162698984146118,
                "transform": {
                    "location": {
                        "x": 952.471435546875,
                        "y": 3424.76171875,
                        "z": 370.37237548828125
                    },
                    "rotation": {
                        "roll": 0.00155243172775954,
                        "pitch": 0.5980035066604614,
                        "yaw": 99.14043426513672
                    }
                },
                "velocity": {
                    "x": -0.502982497215271,
                    "y": 3.1223723888397217,
                    "z": 0.021526630967855453
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.31957316398620605,
        "expert_target_speed": 8.576894093520336,
        "target_point": [
            40.27626716611536,
            1.2058951217756633
        ],
        "target_point_next": [
            91.26429938589659,
            2.3190713684585393
        ]
    },
    "325": {
        "acceleration": [
            0.31804919242858887,
            -2.1215057373046875,
            -0.02590581774711609
        ],
        "angular_velocity": [
            0.46405065059661865,
            0.11512485891580582,
            -0.5104963183403015
        ],
        "forward_vector": [
            -0.13410860300064087,
            0.9909665584564209,
            -0.000411748857004568
        ],
        "right_vector": [
            -0.9909665584564209,
            -0.1341087520122528,
            -0.00035938891232945025
        ],
        "location": [
            956.9205322265625,
            3405.0947265625,
            370.2414245605469
        ],
        "rotation": [
            0.02059146948158741,
            -0.02359147183597088,
            97.70707702636719
        ],
        "velocity": [
            -0.9628636837005615,
            7.173764705657959,
            0.05644325911998749
        ],
        "speed": 7.238094122456079,
        "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": 20.952960968017578,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                952.3458862304688,
                3425.541748046875,
                370.3775329589844
            ],
            "velocity": [
                -0.5015689134597778,
                3.122507333755493,
                0.02119462937116623
            ],
            "speed_kmh": 11.385379280928605,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.234927654266357,
                "transform": {
                    "location": {
                        "x": 954.6270751953125,
                        "y": 3458.2421875,
                        "z": 370.5661926269531
                    },
                    "rotation": {
                        "roll": 0.011220737360417843,
                        "pitch": -0.45297127962112427,
                        "yaw": -80.51350402832031
                    }
                },
                "velocity": {
                    "x": 0.8626879453659058,
                    "y": -5.1633100509643555,
                    "z": -0.021558336913585663
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.669568061828613,
                "transform": {
                    "location": {
                        "x": 958.6222534179688,
                        "y": 3453.958251953125,
                        "z": 370.5467834472656
                    },
                    "rotation": {
                        "roll": 0.006373738404363394,
                        "pitch": -0.07183992862701416,
                        "yaw": -80.48338317871094
                    }
                },
                "velocity": {
                    "x": 1.258485198020935,
                    "y": -7.565525531768799,
                    "z": -0.03625909611582756
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012312889099121,
                "transform": {
                    "location": {
                        "x": 961.5625,
                        "y": 3415.44091796875,
                        "z": 370.30902099609375
                    },
                    "rotation": {
                        "roll": 0.0007425210205838084,
                        "pitch": -0.4003651738166809,
                        "yaw": -80.84996032714844
                    }
                },
                "velocity": {
                    "x": 1.2740709781646729,
                    "y": -7.910175800323486,
                    "z": -0.05490737408399582
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.069276809692383,
                "transform": {
                    "location": {
                        "x": 965.4182739257812,
                        "y": 3411.9365234375,
                        "z": 370.28765869140625
                    },
                    "rotation": {
                        "roll": 0.00038879786734469235,
                        "pitch": -0.4249880015850067,
                        "yaw": -80.85295104980469
                    }
                },
                "velocity": {
                    "x": 1.2826402187347412,
                    "y": -7.96645450592041,
                    "z": -0.060607921332120895
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079703330993652,
                "transform": {
                    "location": {
                        "x": 968.6435546875,
                        "y": 3371.439208984375,
                        "z": 369.88433837890625
                    },
                    "rotation": {
                        "roll": -0.0010680623818188906,
                        "pitch": -0.6640855669975281,
                        "yaw": -80.85535430908203
                    }
                },
                "velocity": {
                    "x": 1.2839114665985107,
                    "y": -7.976498126983643,
                    "z": -0.09301183372735977
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05115032196045,
                "transform": {
                    "location": {
                        "x": 972.2691040039062,
                        "y": 3369.36376953125,
                        "z": 369.86383056640625
                    },
                    "rotation": {
                        "roll": -0.00030519135179929435,
                        "pitch": -0.6667493581771851,
                        "yaw": -80.85918426513672
                    }
                },
                "velocity": {
                    "x": 1.2789103984832764,
                    "y": -7.9483842849731445,
                    "z": -0.09273333102464676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.428466796875,
                        "y": 3333.04931640625,
                        "z": 369.3875427246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.1600341796875,
                        "y": 3330.328125,
                        "z": 369.3362121582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9182027578353882,
                        "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": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.076302528381348,
                "transform": {
                    "location": {
                        "x": 965.7521362304688,
                        "y": 3367.693115234375,
                        "z": 369.8914794921875
                    },
                    "rotation": {
                        "roll": -0.00021359368111006916,
                        "pitch": 0.7203458547592163,
                        "yaw": 99.13992309570312
                    }
                },
                "velocity": {
                    "x": -1.4411176443099976,
                    "y": 8.960542678833008,
                    "z": 0.10545619577169418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.009367942810059,
                "transform": {
                    "location": {
                        "x": 962.878173828125,
                        "y": 3385.5498046875,
                        "z": 370.0607604980469
                    },
                    "rotation": {
                        "roll": 0.00014040200039744377,
                        "pitch": 0.6700210571289062,
                        "yaw": 99.13958740234375
                    }
                },
                "velocity": {
                    "x": -1.4320852756500244,
                    "y": 8.894335746765137,
                    "z": 0.09293609112501144
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.033099174499512,
                "transform": {
                    "location": {
                        "x": 948.0244140625,
                        "y": 3457.3896484375,
                        "z": 370.5658874511719
                    },
                    "rotation": {
                        "roll": 0.00036576559068635106,
                        "pitch": 0.2555924952030182,
                        "yaw": 99.15103912353516
                    }
                },
                "velocity": {
                    "x": -1.276255488395691,
                    "y": 7.930985927581787,
                    "z": 0.03637252748012543
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.0564575195312,
                        "y": 3476.46240234375,
                        "z": 370.65338134765625
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.067173957824707,
                "transform": {
                    "location": {
                        "x": 968.67919921875,
                        "y": 3349.503662109375,
                        "z": 369.6275329589844
                    },
                    "rotation": {
                        "roll": -0.0013427874073386192,
                        "pitch": 0.8517860174179077,
                        "yaw": 99.14940643310547
                    }
                },
                "velocity": {
                    "x": -1.441374659538269,
                    "y": 8.95108699798584,
                    "z": 0.11884851008653641
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.09204387664795,
                "transform": {
                    "location": {
                        "x": 959.8538208007812,
                        "y": 3404.33740234375,
                        "z": 370.23077392578125
                    },
                    "rotation": {
                        "roll": 0.0011074524372816086,
                        "pitch": 0.2947158217430115,
                        "yaw": 99.15254211425781
                    }
                },
                "velocity": {
                    "x": -1.2857226133346558,
                    "y": 7.988991737365723,
                    "z": 0.06398893147706985
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045968055725098,
                "transform": {
                    "location": {
                        "x": 956.9217529296875,
                        "y": 3422.55859375,
                        "z": 370.3648376464844
                    },
                    "rotation": {
                        "roll": 0.00020476369536481798,
                        "pitch": 0.3911512494087219,
                        "yaw": 99.12614440917969
                    }
                },
                "velocity": {
                    "x": -1.277325987815857,
                    "y": 7.943757057189941,
                    "z": 0.052450187504291534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1654365062713623,
                "transform": {
                    "location": {
                        "x": 950.8494873046875,
                        "y": 3434.842529296875,
                        "z": 370.4337158203125
                    },
                    "rotation": {
                        "roll": -0.0012512203538790345,
                        "pitch": 0.03071535937488079,
                        "yaw": 99.14356231689453
                    }
                },
                "velocity": {
                    "x": -0.503352165222168,
                    "y": 3.1250979900360107,
                    "z": 0.019690675660967827
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626055240631104,
                "transform": {
                    "location": {
                        "x": 952.3458862304688,
                        "y": 3425.541748046875,
                        "z": 370.3775329589844
                    },
                    "rotation": {
                        "roll": -0.0016174252377822995,
                        "pitch": 0.5857228636741638,
                        "yaw": 99.13752746582031
                    }
                },
                "velocity": {
                    "x": -0.5015689134597778,
                    "y": 3.122507333755493,
                    "z": 0.02119462937116623
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39456379413604736,
        "expert_target_speed": 7.850915381647094,
        "target_point": [
            38.365455769076846,
            1.3350689746642557
        ],
        "target_point_next": [
            89.34963486780433,
            2.6125949550300653
        ]
    },
    "330": {
        "acceleration": [
            0.7095456123352051,
            -5.570888519287109,
            -0.04646182060241699
        ],
        "angular_velocity": [
            -0.6584468483924866,
            -0.011515144258737564,
            0.3108539581298828
        ],
        "forward_vector": [
            -0.1341954916715622,
            0.9909499883651733,
            -0.0031254237983375788
        ],
        "right_vector": [
            -0.9909548759460449,
            -0.13419568538665771,
            0.00015073396207299083
        ],
        "location": [
            956.7003173828125,
            3406.721435546875,
            370.25433349609375
        ],
        "rotation": [
            -0.00863646250218153,
            -0.17907388508319855,
            97.71214294433594
        ],
        "velocity": [
            -0.7659010291099548,
            5.61301851272583,
            0.040750160813331604
        ],
        "speed": 5.665031439506278,
        "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": 20.106443405151367,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                952.2203979492188,
                3426.322021484375,
                370.3825988769531
            ],
            "velocity": [
                -0.5021132826805115,
                3.1223957538604736,
                0.021410511806607246
            ],
            "speed_kmh": 11.385298897039187,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.986661911010742,
                "transform": {
                    "location": {
                        "x": 954.8677368164062,
                        "y": 3456.80078125,
                        "z": 370.5577392578125
                    },
                    "rotation": {
                        "roll": 0.006257691420614719,
                        "pitch": 0.13719800114631653,
                        "yaw": -80.52620697021484
                    }
                },
                "velocity": {
                    "x": 1.148514986038208,
                    "y": -6.891547679901123,
                    "z": -0.030409488826990128
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.31174373626709,
                "transform": {
                    "location": {
                        "x": 958.9588623046875,
                        "y": 3451.927001953125,
                        "z": 370.5361328125
                    },
                    "rotation": {
                        "roll": 0.003547176718711853,
                        "pitch": -0.1630229502916336,
                        "yaw": -80.5782241821289
                    }
                },
                "velocity": {
                    "x": 1.355944037437439,
                    "y": -8.200279235839844,
                    "z": -0.0438399501144886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04278564453125,
                "transform": {
                    "location": {
                        "x": 961.8815307617188,
                        "y": 3413.460205078125,
                        "z": 370.2947998046875
                    },
                    "rotation": {
                        "roll": -0.0009765697177499533,
                        "pitch": -0.4197697341442108,
                        "yaw": -80.85038757324219
                    }
                },
                "velocity": {
                    "x": 1.278785228729248,
                    "y": -7.940270900726318,
                    "z": -0.05661177635192871
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005370140075684,
                "transform": {
                    "location": {
                        "x": 965.7376098632812,
                        "y": 3409.953125,
                        "z": 370.2727355957031
                    },
                    "rotation": {
                        "roll": -3.0523227906087413e-05,
                        "pitch": -0.42074644565582275,
                        "yaw": -80.85350799560547
                    }
                },
                "velocity": {
                    "x": 1.272453784942627,
                    "y": -7.903371334075928,
                    "z": -0.059389885514974594
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028121948242188,
                "transform": {
                    "location": {
                        "x": 968.9635009765625,
                        "y": 3369.451904296875,
                        "z": 369.8609924316406
                    },
                    "rotation": {
                        "roll": -0.0006103825871832669,
                        "pitch": -0.6656838655471802,
                        "yaw": -80.8553237915039
                    }
                },
                "velocity": {
                    "x": 1.2757532596588135,
                    "y": -7.925568580627441,
                    "z": -0.09246724843978882
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063847541809082,
                "transform": {
                    "location": {
                        "x": 972.5892944335938,
                        "y": 3367.37451171875,
                        "z": 369.8404846191406
                    },
                    "rotation": {
                        "roll": 0.0013424910139292479,
                        "pitch": -0.6713802218437195,
                        "yaw": -80.85526275634766
                    }
                },
                "velocity": {
                    "x": 1.2815319299697876,
                    "y": -7.9607977867126465,
                    "z": -0.09496038407087326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.0686645507812,
                        "y": 3335.284912109375,
                        "z": 369.4224548339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4828,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.4901123046875,
                        "y": 3328.270751953125,
                        "z": 369.30303955078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9182027578353882,
                        "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": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.480151176452637,
                "transform": {
                    "location": {
                        "x": 965.4071655273438,
                        "y": 3369.8369140625,
                        "z": 369.9173889160156
                    },
                    "rotation": {
                        "roll": -0.0007934700115583837,
                        "pitch": 0.6271069645881653,
                        "yaw": 99.13782501220703
                    }
                },
                "velocity": {
                    "x": -1.3469518423080444,
                    "y": 8.371917724609375,
                    "z": 0.09834910929203033
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.723369598388672,
                "transform": {
                    "location": {
                        "x": 962.5181884765625,
                        "y": 3387.786865234375,
                        "z": 370.083740234375
                    },
                    "rotation": {
                        "roll": -0.00036623133928515017,
                        "pitch": 0.5326864123344421,
                        "yaw": 99.1415023803711
                    }
                },
                "velocity": {
                    "x": -1.3857847452163696,
                    "y": 8.612177848815918,
                    "z": 0.08468277007341385
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.069323539733887,
                "transform": {
                    "location": {
                        "x": 947.7044067382812,
                        "y": 3459.37646484375,
                        "z": 370.5748596191406
                    },
                    "rotation": {
                        "roll": -0.0005188060458749533,
                        "pitch": 0.2568219304084778,
                        "yaw": 99.14584350585938
                    }
                },
                "velocity": {
                    "x": -1.2826279401779175,
                    "y": 7.966647624969482,
                    "z": 0.037047356367111206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.744140625,
                        "y": 3478.403564453125,
                        "z": 370.6615295410156
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.873397827148438,
                "transform": {
                    "location": {
                        "x": 968.320068359375,
                        "y": 3351.734375,
                        "z": 369.6571044921875
                    },
                    "rotation": {
                        "roll": -0.001281708711758256,
                        "pitch": 0.7660056948661804,
                        "yaw": 99.14556884765625
                    }
                },
                "velocity": {
                    "x": -1.4102215766906738,
                    "y": 8.759821891784668,
                    "z": 0.11822660267353058
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.294241428375244,
                "transform": {
                    "location": {
                        "x": 959.5494384765625,
                        "y": 3406.22998046875,
                        "z": 370.2463684082031
                    },
                    "rotation": {
                        "roll": 0.001207298249937594,
                        "pitch": 0.11177603900432587,
                        "yaw": 99.11048126220703
                    }
                },
                "velocity": {
                    "x": -1.1571812629699707,
                    "y": 7.201655864715576,
                    "z": 0.05513365566730499
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046035766601562,
                "transform": {
                    "location": {
                        "x": 956.602294921875,
                        "y": 3424.544189453125,
                        "z": 370.3783874511719
                    },
                    "rotation": {
                        "roll": -0.0008545135497115552,
                        "pitch": 0.3884055018424988,
                        "yaw": 99.15792083740234
                    }
                },
                "velocity": {
                    "x": -1.2789511680603027,
                    "y": 7.943556785583496,
                    "z": 0.05364983528852463
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165254592895508,
                "transform": {
                    "location": {
                        "x": 950.7238159179688,
                        "y": 3435.623779296875,
                        "z": 370.4383239746094
                    },
                    "rotation": {
                        "roll": -0.00015258703206200153,
                        "pitch": 0.025203397497534752,
                        "yaw": 99.14276123046875
                    }
                },
                "velocity": {
                    "x": -0.5026191473007202,
                    "y": 3.125046730041504,
                    "z": 0.017139101400971413
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162583112716675,
                "transform": {
                    "location": {
                        "x": 952.2203979492188,
                        "y": 3426.322021484375,
                        "z": 370.3825988769531
                    },
                    "rotation": {
                        "roll": 0.0003152190474793315,
                        "pitch": 0.5863580703735352,
                        "yaw": 99.13851165771484
                    }
                },
                "velocity": {
                    "x": -0.5021132826805115,
                    "y": 3.1223957538604736,
                    "z": 0.021410511806607246
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4596409797668457,
        "expert_target_speed": 6.557226920607432,
        "target_point": [
            36.7240266680772,
            1.3317504273329908
        ],
        "target_point_next": [
            87.70831856873446,
            2.6047666841826427
        ]
    },
    "335": {
        "acceleration": [
            0.35971760749816895,
            -3.2503795623779297,
            0.01610204577445984
        ],
        "angular_velocity": [
            0.6048606634140015,
            0.13546647131443024,
            0.6033250093460083
        ],
        "forward_vector": [
            -0.13621731102466583,
            0.99067622423172,
            -0.002325413515791297
        ],
        "right_vector": [
            -0.9906789064407349,
            -0.1362166404724121,
            0.0004452794964890927
        ],
        "location": [
            956.5275268554688,
            3407.973388671875,
            370.2629699707031
        ],
        "rotation": [
            -0.025512706488370895,
            -0.13323649764060974,
            97.82904052734375
        ],
        "velocity": [
            -0.6387301683425903,
            4.541676044464111,
            0.03312351182103157
        ],
        "speed": 4.586370844230777,
        "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": 19.636438369750977,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                952.0947265625,
                3427.1025390625,
                370.3877258300781
            ],
            "velocity": [
                -0.502642810344696,
                3.1222386360168457,
                0.021620025858283043
            ],
            "speed_kmh": 11.38504841949615,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.2222318649292,
                "transform": {
                    "location": {
                        "x": 955.1815185546875,
                        "y": 3454.91845703125,
                        "z": 370.5483093261719
                    },
                    "rotation": {
                        "roll": 0.0015461109578609467,
                        "pitch": 0.2936502993106842,
                        "yaw": -80.53446960449219
                    }
                },
                "velocity": {
                    "x": 1.3517729043960571,
                    "y": -8.110252380371094,
                    "z": -0.04017409309744835
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.891633033752441,
                "transform": {
                    "location": {
                        "x": 959.2866821289062,
                        "y": 3449.93798828125,
                        "z": 370.5255126953125
                    },
                    "rotation": {
                        "roll": 0.004605630412697792,
                        "pitch": -0.31344419717788696,
                        "yaw": -80.66527557373047
                    }
                },
                "velocity": {
                    "x": 1.2773277759552002,
                    "y": -7.787467956542969,
                    "z": -0.04061245918273926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026368141174316,
                "transform": {
                    "location": {
                        "x": 962.2009887695312,
                        "y": 3411.476806640625,
                        "z": 370.28021240234375
                    },
                    "rotation": {
                        "roll": -0.0007324516773223877,
                        "pitch": -0.43005600571632385,
                        "yaw": -80.85028076171875
                    }
                },
                "velocity": {
                    "x": 1.2762115001678467,
                    "y": -7.9240288734436035,
                    "z": -0.060325656086206436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.067602157592773,
                "transform": {
                    "location": {
                        "x": 966.0570068359375,
                        "y": 3407.96923828125,
                        "z": 370.2579345703125
                    },
                    "rotation": {
                        "roll": -0.0006103578489273787,
                        "pitch": -0.4205620586872101,
                        "yaw": -80.85354614257812
                    }
                },
                "velocity": {
                    "x": 1.2823721170425415,
                    "y": -7.9648051261901855,
                    "z": -0.0600954033434391
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079895973205566,
                "transform": {
                    "location": {
                        "x": 969.2835083007812,
                        "y": 3367.463623046875,
                        "z": 369.8377380371094
                    },
                    "rotation": {
                        "roll": 0.0005049342289566994,
                        "pitch": -0.6636962890625,
                        "yaw": -80.8557357788086
                    }
                },
                "velocity": {
                    "x": 1.2839938402175903,
                    "y": -7.976681232452393,
                    "z": -0.09288349747657776
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05196762084961,
                "transform": {
                    "location": {
                        "x": 972.9093627929688,
                        "y": 3365.38623046875,
                        "z": 369.8166198730469
                    },
                    "rotation": {
                        "roll": 0.0002254395658383146,
                        "pitch": -0.6962011456489563,
                        "yaw": -80.85529327392578
                    }
                },
                "velocity": {
                    "x": 1.2796069383621216,
                    "y": -7.949069023132324,
                    "z": -0.09530659765005112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.7315673828125,
                        "y": 3337.37939453125,
                        "z": 369.45428466796875
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.110824584960938,
                "transform": {
                    "location": {
                        "x": 965.0746459960938,
                        "y": 3371.903564453125,
                        "z": 369.9415588378906
                    },
                    "rotation": {
                        "roll": 3.644765092758462e-05,
                        "pitch": 0.6285276412963867,
                        "yaw": 99.1464614868164
                    }
                },
                "velocity": {
                    "x": -1.289926290512085,
                    "y": 8.007043838500977,
                    "z": 0.09386331588029861
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.645975112915039,
                "transform": {
                    "location": {
                        "x": 962.1971435546875,
                        "y": 3389.7802734375,
                        "z": 370.1031799316406
                    },
                    "rotation": {
                        "roll": -0.00015260213695000857,
                        "pitch": 0.3848060071468353,
                        "yaw": 99.14724731445312
                    }
                },
                "velocity": {
                    "x": -1.2153834104537964,
                    "y": 7.548387050628662,
                    "z": 0.07507286220788956
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035609245300293,
                "transform": {
                    "location": {
                        "x": 947.384521484375,
                        "y": 3461.364013671875,
                        "z": 370.5838928222656
                    },
                    "rotation": {
                        "roll": 0.0006507954676635563,
                        "pitch": 0.25723856687545776,
                        "yaw": 99.14549255371094
                    }
                },
                "velocity": {
                    "x": -1.2772046327590942,
                    "y": 7.933372497558594,
                    "z": 0.03702055662870407
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.5023803710938,
                        "y": 3479.904541015625,
                        "z": 370.6676330566406
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.99198055267334,
                "transform": {
                    "location": {
                        "x": 967.9874267578125,
                        "y": 3353.8017578125,
                        "z": 369.6846923828125
                    },
                    "rotation": {
                        "roll": -0.0003356887900736183,
                        "pitch": 0.6611964106559753,
                        "yaw": 99.13704681396484
                    }
                },
                "velocity": {
                    "x": -1.269227147102356,
                    "y": 7.889830112457275,
                    "z": 0.10672014206647873
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.787219047546387,
                "transform": {
                    "location": {
                        "x": 959.2536010742188,
                        "y": 3408.0712890625,
                        "z": 370.2589111328125
                    },
                    "rotation": {
                        "roll": -0.000732449465431273,
                        "pitch": 0.40689483284950256,
                        "yaw": 99.14324188232422
                    }
                },
                "velocity": {
                    "x": -1.2366381883621216,
                    "y": 7.688194274902344,
                    "z": 0.05637826770544052
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046698570251465,
                "transform": {
                    "location": {
                        "x": 956.28271484375,
                        "y": 3426.530029296875,
                        "z": 370.3917236328125
                    },
                    "rotation": {
                        "roll": -6.104610656620935e-05,
                        "pitch": 0.3738640546798706,
                        "yaw": 99.1294174194336
                    }
                },
                "velocity": {
                    "x": -1.278101921081543,
                    "y": 7.944367408752441,
                    "z": 0.05327248573303223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164973258972168,
                "transform": {
                    "location": {
                        "x": 950.5980834960938,
                        "y": 3436.405029296875,
                        "z": 370.44287109375
                    },
                    "rotation": {
                        "roll": 0.0004070157592650503,
                        "pitch": 0.02590690553188324,
                        "yaw": 99.14263916015625
                    }
                },
                "velocity": {
                    "x": -0.5030721426010132,
                    "y": 3.124685525894165,
                    "z": 0.017727622762322426
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162513494491577,
                "transform": {
                    "location": {
                        "x": 952.0947265625,
                        "y": 3427.1025390625,
                        "z": 370.3877258300781
                    },
                    "rotation": {
                        "roll": 3.5753650990955066e-06,
                        "pitch": 0.5878674983978271,
                        "yaw": 99.13978576660156
                    }
                },
                "velocity": {
                    "x": -0.502642810344696,
                    "y": 3.1222386360168457,
                    "z": 0.021620025858283043
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.48621460795402527,
        "expert_target_speed": 5.584001183583444,
        "target_point": [
            35.46284620022288,
            1.2561916955103216
        ],
        "target_point_next": [
            86.44962885820945,
            2.4252020414308078
        ]
    },
    "340": {
        "acceleration": [
            -0.09411334991455078,
            0.11677742004394531,
            0.003695935010910034
        ],
        "angular_velocity": [
            1.1674176454544067,
            0.22343547642230988,
            0.7675425410270691
        ],
        "forward_vector": [
            -0.1392422318458557,
            0.99025559425354,
            0.002309320028871298
        ],
        "right_vector": [
            -0.990257978439331,
            -0.13924382627010345,
            0.0005379570065997541
        ],
        "location": [
            956.3717651367188,
            3409.06689453125,
            370.2701110839844
        ],
        "rotation": [
            -0.0308227501809597,
            0.13231441378593445,
            98.00402069091797
        ],
        "velocity": [
            -0.6261931657791138,
            4.316236972808838,
            0.033238135278224945
        ],
        "speed": 4.361424020467451,
        "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": 19.324506759643555,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                951.9691772460938,
                3427.8828125,
                370.3927917480469
            ],
            "velocity": [
                -0.5023790001869202,
                3.1222240924835205,
                0.02126019448041916
            ],
            "speed_kmh": 11.384837039430991,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.8698120117188,
                        "y": 3489.276123046875,
                        "z": 370.9488830566406
                    },
                    "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": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.185981750488281,
                "transform": {
                    "location": {
                        "x": 955.520751953125,
                        "y": 3452.860595703125,
                        "z": 370.5393371582031
                    },
                    "rotation": {
                        "roll": 0.016320139169692993,
                        "pitch": -0.0472717359662056,
                        "yaw": -80.64976501464844
                    }
                },
                "velocity": {
                    "x": 1.3246901035308838,
                    "y": -8.077981948852539,
                    "z": -0.04127310961484909
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.085199356079102,
                "transform": {
                    "location": {
                        "x": 959.6076049804688,
                        "y": 3447.974365234375,
                        "z": 370.5152893066406
                    },
                    "rotation": {
                        "roll": 0.004474959801882505,
                        "pitch": -0.27722370624542236,
                        "yaw": -80.71183776855469
                    }
                },
                "velocity": {
                    "x": 1.3014107942581177,
                    "y": -7.979661464691162,
                    "z": -0.04212269186973572
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035011291503906,
                "transform": {
                    "location": {
                        "x": 962.5200805664062,
                        "y": 3409.494873046875,
                        "z": 370.2652893066406
                    },
                    "rotation": {
                        "roll": 0.00018232583533972502,
                        "pitch": -0.43088245391845703,
                        "yaw": -80.85411071777344
                    }
                },
                "velocity": {
                    "x": 1.2771562337875366,
                    "y": -7.932631015777588,
                    "z": -0.060418467968702316
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.008163452148438,
                "transform": {
                    "location": {
                        "x": 966.3762817382812,
                        "y": 3405.98583984375,
                        "z": 370.24273681640625
                    },
                    "rotation": {
                        "roll": 0.0005236584111116827,
                        "pitch": -0.4344478249549866,
                        "yaw": -80.85332489013672
                    }
                },
                "velocity": {
                    "x": 1.273004174232483,
                    "y": -7.906065464019775,
                    "z": -0.06528068333864212
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027973175048828,
                "transform": {
                    "location": {
                        "x": 969.6033325195312,
                        "y": 3365.4765625,
                        "z": 369.8140563964844
                    },
                    "rotation": {
                        "roll": 0.0022036656737327576,
                        "pitch": -0.6821924448013306,
                        "yaw": -80.85872650146484
                    }
                },
                "velocity": {
                    "x": 1.2752163410186768,
                    "y": -7.925467491149902,
                    "z": -0.09564326703548431
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062841415405273,
                "transform": {
                    "location": {
                        "x": 973.2294921875,
                        "y": 3363.3974609375,
                        "z": 369.7922668457031
                    },
                    "rotation": {
                        "roll": -0.00018312140309717506,
                        "pitch": -0.6995479464530945,
                        "yaw": -80.85529327392578
                    }
                },
                "velocity": {
                    "x": 1.2813531160354614,
                    "y": -7.9597697257995605,
                    "z": -0.09803596138954163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.4138793945312,
                        "y": 3339.35302734375,
                        "z": 369.48388671875
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.102930545806885,
                "transform": {
                    "location": {
                        "x": 964.7750854492188,
                        "y": 3373.763671875,
                        "z": 369.9637756347656
                    },
                    "rotation": {
                        "roll": -0.0001831169647630304,
                        "pitch": 0.5748355388641357,
                        "yaw": 99.14615631103516
                    }
                },
                "velocity": {
                    "x": -1.1294996738433838,
                    "y": 7.0120673179626465,
                    "z": 0.08225652575492859
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.075325012207031,
                "transform": {
                    "location": {
                        "x": 961.8887329101562,
                        "y": 3391.696533203125,
                        "z": 370.1222229003906
                    },
                    "rotation": {
                        "roll": -0.0003051866078749299,
                        "pitch": 0.5847529768943787,
                        "yaw": 99.14444732666016
                    }
                },
                "velocity": {
                    "x": -1.2833175659179688,
                    "y": 7.972310543060303,
                    "z": 0.07898803800344467
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.070032119750977,
                "transform": {
                    "location": {
                        "x": 947.0645751953125,
                        "y": 3463.35205078125,
                        "z": 370.59283447265625
                    },
                    "rotation": {
                        "roll": -0.0007629473111592233,
                        "pitch": 0.2483934760093689,
                        "yaw": 99.14067077636719
                    }
                },
                "velocity": {
                    "x": -1.28173828125,
                    "y": 7.967525482177734,
                    "z": 0.03330455720424652
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.3005981445312,
                        "y": 3481.15771484375,
                        "z": 370.6726989746094
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.293363571166992,
                "transform": {
                    "location": {
                        "x": 967.6685791015625,
                        "y": 3355.7841796875,
                        "z": 369.71099853515625
                    },
                    "rotation": {
                        "roll": -6.105006468715146e-05,
                        "pitch": 0.7513207793235779,
                        "yaw": 99.13707733154297
                    }
                },
                "velocity": {
                    "x": -1.3168286085128784,
                    "y": 8.187479972839355,
                    "z": 0.10494651645421982
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.344799041748047,
                "transform": {
                    "location": {
                        "x": 958.926513671875,
                        "y": 3410.10400390625,
                        "z": 370.2731628417969
                    },
                    "rotation": {
                        "roll": -0.0007629444589838386,
                        "pitch": 0.6179818511009216,
                        "yaw": 99.12804412841797
                    }
                },
                "velocity": {
                    "x": -1.3256704807281494,
                    "y": 8.23861026763916,
                    "z": 0.05972480773925781
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04642391204834,
                "transform": {
                    "location": {
                        "x": 955.9631958007812,
                        "y": 3428.51611328125,
                        "z": 370.4046936035156
                    },
                    "rotation": {
                        "roll": 0.001163130858913064,
                        "pitch": 0.3709338903427124,
                        "yaw": 99.15422821044922
                    }
                },
                "velocity": {
                    "x": -1.2778412103652954,
                    "y": 7.944136142730713,
                    "z": 0.05251434072852135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651251316070557,
                "transform": {
                    "location": {
                        "x": 950.4723510742188,
                        "y": 3437.186279296875,
                        "z": 370.4474182128906
                    },
                    "rotation": {
                        "roll": 0.00028206463321112096,
                        "pitch": 0.025326339527964592,
                        "yaw": 99.14347076416016
                    }
                },
                "velocity": {
                    "x": -0.5028234124183655,
                    "y": 3.12487530708313,
                    "z": 0.018461350351572037
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162454605102539,
                "transform": {
                    "location": {
                        "x": 951.9691772460938,
                        "y": 3427.8828125,
                        "z": 370.3927917480469
                    },
                    "rotation": {
                        "roll": 0.0007026126841083169,
                        "pitch": 0.5885505676269531,
                        "yaw": 99.1388931274414
                    }
                },
                "velocity": {
                    "x": -0.5023790001869202,
                    "y": 3.1222240924835205,
                    "z": 0.02126019448041916
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4977411925792694,
        "expert_target_speed": 5.372554309496968,
        "target_point": [
            34.36197519601409,
            1.1459035473426749
        ],
        "target_point_next": [
            85.35209013381058,
            2.159199965935384
        ]
    },
    "345": {
        "acceleration": [
            -0.2514326572418213,
            1.2385272979736328,
            0.002216547727584839
        ],
        "angular_velocity": [
            0.7463129758834839,
            0.1597478836774826,
            0.8645163774490356
        ],
        "forward_vector": [
            -0.1428459882736206,
            0.9897221326828003,
            0.006719776429235935
        ],
        "right_vector": [
            -0.9897437691688538,
            -0.1428530067205429,
            0.0005741645582020283
        ],
        "location": [
            956.2095947265625,
            3410.173095703125,
            370.2774963378906
        ],
        "rotation": [
            -0.0328979529440403,
            0.3850177526473999,
            98.21275329589844
        ],
        "velocity": [
            -0.6776387095451355,
            4.544844627380371,
            0.033201999962329865
        ],
        "speed": 4.595085081660863,
        "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": 18.99884033203125,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                951.8436279296875,
                3428.6630859375,
                370.39788818359375
            ],
            "velocity": [
                -0.5025808811187744,
                3.1223418712615967,
                0.020902957767248154
            ],
            "speed_kmh": 11.385362547946734,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.2003173828125,
                        "y": 3487.222412109375,
                        "z": 370.8190002441406
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.807766437530518,
                "transform": {
                    "location": {
                        "x": 955.8405151367188,
                        "y": 3450.9091796875,
                        "z": 370.5302734375
                    },
                    "rotation": {
                        "roll": 0.009856539778411388,
                        "pitch": -0.34292328357696533,
                        "yaw": -80.70472717285156
                    }
                },
                "velocity": {
                    "x": 1.2593262195587158,
                    "y": -7.7054290771484375,
                    "z": -0.040923431515693665
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.088799476623535,
                "transform": {
                    "location": {
                        "x": 959.9337158203125,
                        "y": 3445.9697265625,
                        "z": 370.5046081542969
                    },
                    "rotation": {
                        "roll": 0.0007345625781454146,
                        "pitch": -0.3060266077518463,
                        "yaw": -80.77879333496094
                    }
                },
                "velocity": {
                    "x": 1.2970882654190063,
                    "y": -7.9840006828308105,
                    "z": -0.044333718717098236
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026597023010254,
                "transform": {
                    "location": {
                        "x": 962.8390502929688,
                        "y": 3407.5126953125,
                        "z": 370.25042724609375
                    },
                    "rotation": {
                        "roll": 0.0005564357270486653,
                        "pitch": -0.4276108145713806,
                        "yaw": -80.85791778564453
                    }
                },
                "velocity": {
                    "x": 1.275255560874939,
                    "y": -7.924411296844482,
                    "z": -0.060691773891448975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.067024230957031,
                "transform": {
                    "location": {
                        "x": 966.6957397460938,
                        "y": 3404.001708984375,
                        "z": 370.2265625
                    },
                    "rotation": {
                        "roll": -0.0012512234970927238,
                        "pitch": -0.4860498905181885,
                        "yaw": -80.85338592529297
                    }
                },
                "velocity": {
                    "x": 1.2823340892791748,
                    "y": -7.9641618728637695,
                    "z": -0.06799314171075821
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080528259277344,
                "transform": {
                    "location": {
                        "x": 969.9232788085938,
                        "y": 3363.48876953125,
                        "z": 369.7899169921875
                    },
                    "rotation": {
                        "roll": 0.0005836777272634208,
                        "pitch": -0.6991244554519653,
                        "yaw": -80.85808563232422
                    }
                },
                "velocity": {
                    "x": 1.285359501838684,
                    "y": -7.977040767669678,
                    "z": -0.098014697432518
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051840782165527,
                "transform": {
                    "location": {
                        "x": 973.549560546875,
                        "y": 3361.40869140625,
                        "z": 369.76788330078125
                    },
                    "rotation": {
                        "roll": -0.0005188393988646567,
                        "pitch": -0.6985166072845459,
                        "yaw": -80.85755920410156
                    }
                },
                "velocity": {
                    "x": 1.278335690498352,
                    "y": -7.949102401733398,
                    "z": -0.09880365431308746
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.075439453125,
                        "y": 3341.45654296875,
                        "z": 369.51507568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7983534336090088,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.252477645874023,
                "transform": {
                    "location": {
                        "x": 964.4943237304688,
                        "y": 3375.507080078125,
                        "z": 369.9832763671875
                    },
                    "rotation": {
                        "roll": 0.0005400721565820277,
                        "pitch": 0.6396061778068542,
                        "yaw": 99.15107727050781
                    }
                },
                "velocity": {
                    "x": -1.1528230905532837,
                    "y": 7.159808158874512,
                    "z": 0.08109218627214432
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.682894706726074,
                "transform": {
                    "location": {
                        "x": 961.548828125,
                        "y": 3393.808349609375,
                        "z": 370.14300537109375
                    },
                    "rotation": {
                        "roll": 0.0002690101391635835,
                        "pitch": 0.6640514731407166,
                        "yaw": 99.14387512207031
                    }
                },
                "velocity": {
                    "x": -1.3797694444656372,
                    "y": 8.572178840637207,
                    "z": 0.08155117183923721
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.999019145965576,
                "transform": {
                    "location": {
                        "x": 946.7449951171875,
                        "y": 3465.338623046875,
                        "z": 370.6013488769531
                    },
                    "rotation": {
                        "roll": -9.155466250376776e-05,
                        "pitch": 0.23624257743358612,
                        "yaw": 99.13861846923828
                    }
                },
                "velocity": {
                    "x": -1.2704732418060303,
                    "y": 7.897410869598389,
                    "z": 0.03325217217206955
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.1043701171875,
                        "y": 3482.376708984375,
                        "z": 370.67767333984375
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.380289077758789,
                "transform": {
                    "location": {
                        "x": 967.329345703125,
                        "y": 3357.8916015625,
                        "z": 369.7379150390625
                    },
                    "rotation": {
                        "roll": 8.463671110803261e-05,
                        "pitch": 0.7048481702804565,
                        "yaw": 99.14673614501953
                    }
                },
                "velocity": {
                    "x": -1.3319593667984009,
                    "y": 8.273120880126953,
                    "z": 0.10292714834213257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.830653667449951,
                "transform": {
                    "location": {
                        "x": 958.6065673828125,
                        "y": 3412.0927734375,
                        "z": 370.2888488769531
                    },
                    "rotation": {
                        "roll": -0.0010986420093104243,
                        "pitch": 0.36385098099708557,
                        "yaw": 99.1589126586914
                    }
                },
                "velocity": {
                    "x": -1.2456002235412598,
                    "y": 7.730733871459961,
                    "z": 0.0580020397901535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045452117919922,
                "transform": {
                    "location": {
                        "x": 955.643798828125,
                        "y": 3430.502197265625,
                        "z": 370.4176025390625
                    },
                    "rotation": {
                        "roll": 0.0018514737021178007,
                        "pitch": 0.3715417683124542,
                        "yaw": 99.1240005493164
                    }
                },
                "velocity": {
                    "x": -1.276764988899231,
                    "y": 7.943326473236084,
                    "z": 0.05230536311864853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651248931884766,
                "transform": {
                    "location": {
                        "x": 950.3466186523438,
                        "y": 3437.967529296875,
                        "z": 370.4519958496094
                    },
                    "rotation": {
                        "roll": -0.00033569399965927005,
                        "pitch": 0.02591373585164547,
                        "yaw": 99.1437759399414
                    }
                },
                "velocity": {
                    "x": -0.5030608177185059,
                    "y": 3.124837875366211,
                    "z": 0.018259333446621895
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162600517272949,
                "transform": {
                    "location": {
                        "x": 951.8436279296875,
                        "y": 3428.6630859375,
                        "z": 370.39788818359375
                    },
                    "rotation": {
                        "roll": 0.00039726580143906176,
                        "pitch": 0.5885095596313477,
                        "yaw": 99.13935089111328
                    }
                },
                "velocity": {
                    "x": -0.5025808811187744,
                    "y": 3.1223418712615967,
                    "z": 0.020902957767248154
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5102440118789673,
        "expert_target_speed": 5.583264823150364,
        "target_point": [
            33.247899820120324,
            1.0182105430306958
        ],
        "target_point_next": [
            84.24136825691478,
            1.8457175141653845
        ]
    },
    "350": {
        "acceleration": [
            -0.4045403003692627,
            2.118959426879883,
            0.14082297682762146
        ],
        "angular_velocity": [
            0.5990644097328186,
            0.07117762416601181,
            0.9376646280288696
        ],
        "forward_vector": [
            -0.14672242105007172,
            0.989132821559906,
            0.009424665942788124
        ],
        "right_vector": [
            -0.9891757965087891,
            -0.14673426747322083,
            0.0005746851093135774
        ],
        "location": [
            956.0307006835938,
            3411.36279296875,
            370.2857666015625
        ],
        "rotation": [
            -0.03292849659919739,
            0.5400015711784363,
            98.43740844726562
        ],
        "velocity": [
            -0.7619765996932983,
            4.980830669403076,
            0.04248582571744919
        ],
        "speed": 5.038777877198642,
        "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": 18.588165283203125,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                951.718017578125,
                3429.443359375,
                370.4029541015625
            ],
            "velocity": [
                -0.5024639368057251,
                3.122288227081299,
                0.021171731874346733
            ],
            "speed_kmh": 11.385111427560464,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.5933227539062,
                        "y": 3489.181396484375,
                        "z": 370.7498779296875
                    },
                    "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": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.5308227539062,
                        "y": 3485.1689453125,
                        "z": 370.6890869140625
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.16488265991211,
                "transform": {
                    "location": {
                        "x": 956.1624145507812,
                        "y": 3448.936767578125,
                        "z": 370.5194091796875
                    },
                    "rotation": {
                        "roll": 0.010305539704859257,
                        "pitch": -0.22466540336608887,
                        "yaw": -80.73643493652344
                    }
                },
                "velocity": {
                    "x": 1.309773325920105,
                    "y": -8.059040069580078,
                    "z": -0.040889449417591095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01014518737793,
                "transform": {
                    "location": {
                        "x": 960.2550048828125,
                        "y": 3443.98876953125,
                        "z": 370.49346923828125
                    },
                    "rotation": {
                        "roll": 0.0031193976756185293,
                        "pitch": -0.34268423914909363,
                        "yaw": -80.78128814697266
                    }
                },
                "velocity": {
                    "x": 1.2799091339111328,
                    "y": -7.907102108001709,
                    "z": -0.04465922340750694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038934707641602,
                "transform": {
                    "location": {
                        "x": 963.157958984375,
                        "y": 3405.530029296875,
                        "z": 370.23529052734375
                    },
                    "rotation": {
                        "roll": 0.000760374590754509,
                        "pitch": -0.4411619007587433,
                        "yaw": -80.86186981201172
                    }
                },
                "velocity": {
                    "x": 1.276599407196045,
                    "y": -7.936656951904297,
                    "z": -0.06514876335859299
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.008502960205078,
                "transform": {
                    "location": {
                        "x": 967.014892578125,
                        "y": 3402.018310546875,
                        "z": 370.2093200683594
                    },
                    "rotation": {
                        "roll": -0.0025634965859353542,
                        "pitch": -0.4924907684326172,
                        "yaw": -80.85841369628906
                    }
                },
                "velocity": {
                    "x": 1.2706289291381836,
                    "y": -7.906768798828125,
                    "z": -0.0679917111992836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027538299560547,
                "transform": {
                    "location": {
                        "x": 970.2430419921875,
                        "y": 3361.5009765625,
                        "z": 369.7654113769531
                    },
                    "rotation": {
                        "roll": -0.001525833155028522,
                        "pitch": -0.6974510550498962,
                        "yaw": -80.86003112792969
                    }
                },
                "velocity": {
                    "x": 1.2750693559646606,
                    "y": -7.925018787384033,
                    "z": -0.09822986274957657
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063644409179688,
                "transform": {
                    "location": {
                        "x": 973.8694458007812,
                        "y": 3359.419921875,
                        "z": 369.74334716796875
                    },
                    "rotation": {
                        "roll": 0.0012522588949650526,
                        "pitch": -0.6989741921424866,
                        "yaw": -80.86315155029297
                    }
                },
                "velocity": {
                    "x": 1.2804468870162964,
                    "y": -7.960717678070068,
                    "z": -0.09892218559980392
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.133784770965576,
                "transform": {
                    "location": {
                        "x": 969.7964477539062,
                        "y": 3343.15185546875,
                        "z": 369.56085205078125
                    },
                    "rotation": {
                        "roll": -0.012359646148979664,
                        "pitch": 0.615352213382721,
                        "yaw": 99.36267852783203
                    }
                },
                "velocity": {
                    "x": -1.0360931158065796,
                    "y": 6.043128967285156,
                    "z": 0.17439307272434235
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.416330337524414,
                "transform": {
                    "location": {
                        "x": 964.1837768554688,
                        "y": 3377.435302734375,
                        "z": 370.0043029785156
                    },
                    "rotation": {
                        "roll": -0.0007019642507657409,
                        "pitch": 0.7212679386138916,
                        "yaw": 99.14347839355469
                    }
                },
                "velocity": {
                    "x": -1.338014006614685,
                    "y": 8.308775901794434,
                    "z": 0.09260904043912888
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.893997669219971,
                "transform": {
                    "location": {
                        "x": 961.222412109375,
                        "y": 3395.8359375,
                        "z": 370.1617126464844
                    },
                    "rotation": {
                        "roll": 0.0001301371376030147,
                        "pitch": 0.41150522232055664,
                        "yaw": 99.14431762695312
                    }
                },
                "velocity": {
                    "x": -1.2544392347335815,
                    "y": 7.793350696563721,
                    "z": 0.07258287072181702
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.053013801574707,
                "transform": {
                    "location": {
                        "x": 946.4454345703125,
                        "y": 3467.200439453125,
                        "z": 370.60931396484375
                    },
                    "rotation": {
                        "roll": 0.00021710687724407762,
                        "pitch": 0.2190578132867813,
                        "yaw": 99.13836669921875
                    }
                },
                "velocity": {
                    "x": -1.120239496231079,
                    "y": 6.963418483734131,
                    "z": 0.02952403947710991
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.8991088867188,
                        "y": 3483.653564453125,
                        "z": 370.6828308105469
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.482561111450195,
                "transform": {
                    "location": {
                        "x": 967.0182495117188,
                        "y": 3359.82421875,
                        "z": 369.7613525390625
                    },
                    "rotation": {
                        "roll": -0.0001830908440751955,
                        "pitch": 0.5917880535125732,
                        "yaw": 99.13972473144531
                    }
                },
                "velocity": {
                    "x": -1.1892913579940796,
                    "y": 7.386881351470947,
                    "z": 0.09105727821588516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.059539794921875,
                "transform": {
                    "location": {
                        "x": 958.2930908203125,
                        "y": 3414.03955078125,
                        "z": 370.3027648925781
                    },
                    "rotation": {
                        "roll": -0.00045778221101500094,
                        "pitch": 0.4282938241958618,
                        "yaw": 99.13053894042969
                    }
                },
                "velocity": {
                    "x": -1.2806462049484253,
                    "y": 7.956944942474365,
                    "z": 0.05616433918476105
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046064376831055,
                "transform": {
                    "location": {
                        "x": 955.3243408203125,
                        "y": 3432.488037109375,
                        "z": 370.4305419921875
                    },
                    "rotation": {
                        "roll": -0.000488302088342607,
                        "pitch": 0.37232041358947754,
                        "yaw": 99.1575927734375
                    }
                },
                "velocity": {
                    "x": -1.2786784172058105,
                    "y": 7.943639278411865,
                    "z": 0.052216242998838425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652090549468994,
                "transform": {
                    "location": {
                        "x": 950.2208251953125,
                        "y": 3438.748779296875,
                        "z": 370.45660400390625
                    },
                    "rotation": {
                        "roll": 0.00026437052292749286,
                        "pitch": 0.02591373585164547,
                        "yaw": 99.14286804199219
                    }
                },
                "velocity": {
                    "x": -0.5029502511024475,
                    "y": 3.1249446868896484,
                    "z": 0.01759393699467182
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625308990478516,
                "transform": {
                    "location": {
                        "x": 951.718017578125,
                        "y": 3429.443359375,
                        "z": 370.4029541015625
                    },
                    "rotation": {
                        "roll": 7.748404459562153e-05,
                        "pitch": 0.5887554287910461,
                        "yaw": 99.13895416259766
                    }
                },
                "velocity": {
                    "x": -0.5024639368057251,
                    "y": 3.122288227081299,
                    "z": 0.021171731874346733
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.49177634716033936,
        "expert_target_speed": 5.979476591598567,
        "target_point": [
            32.0485670796179,
            0.8854344165978167
        ],
        "target_point_next": [
            83.04488834016847,
            1.5129763612885476
        ]
    },
    "355": {
        "acceleration": [
            -0.16531586647033691,
            0.8443546295166016,
            -0.02186886966228485
        ],
        "angular_velocity": [
            -0.029021311551332474,
            -0.09899874031543732,
            0.8552575707435608
        ],
        "forward_vector": [
            -0.1496642529964447,
            0.9886924028396606,
            0.00937376543879509
        ],
        "right_vector": [
            -0.988735020160675,
            -0.14967560768127441,
            0.000517695676535368
        ],
        "location": [
            955.8355102539062,
            3412.628662109375,
            370.29541015625
        ],
        "rotation": [
            -0.029663080349564552,
            0.5370850563049316,
            98.60784912109375
        ],
        "velocity": [
            -0.8046512603759766,
            5.163275241851807,
            0.03659801557660103
        ],
        "speed": 5.225598039836635,
        "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": 18.099699020385742,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                951.5924682617188,
                3430.2236328125,
                370.4080505371094
            ],
            "velocity": [
                -0.502022385597229,
                3.122180223464966,
                0.021366605535149574
            ],
            "speed_kmh": 11.384479826688644,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.9242553710938,
                        "y": 3487.124267578125,
                        "z": 370.71990966796875
                    },
                    "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": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.8617553710938,
                        "y": 3483.111572265625,
                        "z": 370.6784973144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02126407623291,
                "transform": {
                    "location": {
                        "x": 956.48779296875,
                        "y": 3446.931884765625,
                        "z": 370.50927734375
                    },
                    "rotation": {
                        "roll": 0.007249088026583195,
                        "pitch": -0.2952827215194702,
                        "yaw": -80.78495788574219
                    }
                },
                "velocity": {
                    "x": 1.284356951713562,
                    "y": -7.917666912078857,
                    "z": -0.040786053985357285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0757474899292,
                "transform": {
                    "location": {
                        "x": 960.5760498046875,
                        "y": 3442.002685546875,
                        "z": 370.4817810058594
                    },
                    "rotation": {
                        "roll": 0.003450315212830901,
                        "pitch": -0.3269679546356201,
                        "yaw": -80.83065032958984
                    }
                },
                "velocity": {
                    "x": 1.2881139516830444,
                    "y": -7.972221374511719,
                    "z": -0.04631880298256874
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023232460021973,
                "transform": {
                    "location": {
                        "x": 963.4766845703125,
                        "y": 3403.548095703125,
                        "z": 370.2192077636719
                    },
                    "rotation": {
                        "roll": 9.122378105530515e-05,
                        "pitch": -0.49499744176864624,
                        "yaw": -80.86212921142578
                    }
                },
                "velocity": {
                    "x": 1.2741000652313232,
                    "y": -7.921162128448486,
                    "z": -0.06413187086582184
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.067193031311035,
                "transform": {
                    "location": {
                        "x": 967.333984375,
                        "y": 3400.0341796875,
                        "z": 370.1921081542969
                    },
                    "rotation": {
                        "roll": -0.0013427414232864976,
                        "pitch": -0.48947182297706604,
                        "yaw": -80.86382293701172
                    }
                },
                "velocity": {
                    "x": 1.2808812856674194,
                    "y": -7.964559555053711,
                    "z": -0.06883303821086884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07979965209961,
                "transform": {
                    "location": {
                        "x": 970.5630493164062,
                        "y": 3359.512939453125,
                        "z": 369.7409362792969
                    },
                    "rotation": {
                        "roll": 0.000163696488016285,
                        "pitch": -0.6961669921875,
                        "yaw": -80.85752868652344
                    }
                },
                "velocity": {
                    "x": 1.2836036682128906,
                    "y": -7.9765777587890625,
                    "z": -0.09865091741085052
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052647590637207,
                "transform": {
                    "location": {
                        "x": 974.1893310546875,
                        "y": 3357.431396484375,
                        "z": 369.7183837890625
                    },
                    "rotation": {
                        "roll": 0.00042950912029482424,
                        "pitch": -0.7242117524147034,
                        "yaw": -80.8613510131836
                    }
                },
                "velocity": {
                    "x": 1.279628038406372,
                    "y": -7.94968318939209,
                    "z": -0.10110270231962204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.865279674530029,
                "transform": {
                    "location": {
                        "x": 969.5438842773438,
                        "y": 3344.629638671875,
                        "z": 369.59210205078125
                    },
                    "rotation": {
                        "roll": 0.0003128562238998711,
                        "pitch": 0.7699671983718872,
                        "yaw": 99.65794372558594
                    }
                },
                "velocity": {
                    "x": -1.0024148225784302,
                    "y": 5.778083324432373,
                    "z": 0.10209064185619354
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.292882919311523,
                "transform": {
                    "location": {
                        "x": 963.8435668945312,
                        "y": 3379.54931640625,
                        "z": 370.0283203125
                    },
                    "rotation": {
                        "roll": -0.0004272607620805502,
                        "pitch": 0.6455689668655396,
                        "yaw": 99.14897918701172
                    }
                },
                "velocity": {
                    "x": -1.3199421167373657,
                    "y": 8.186652183532715,
                    "z": 0.0915636196732521
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.417072296142578,
                "transform": {
                    "location": {
                        "x": 960.9019165039062,
                        "y": 3397.826904296875,
                        "z": 370.1794128417969
                    },
                    "rotation": {
                        "roll": 0.00033199970494024456,
                        "pitch": 0.5473781824111938,
                        "yaw": 99.1441421508789
                    }
                },
                "velocity": {
                    "x": -1.3376134634017944,
                    "y": 8.30981159210205,
                    "z": 0.07018104195594788
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.706852912902832,
                "transform": {
                    "location": {
                        "x": 946.2049560546875,
                        "y": 3468.695556640625,
                        "z": 370.61572265625
                    },
                    "rotation": {
                        "roll": -9.155441512120888e-05,
                        "pitch": 0.1956985741853714,
                        "yaw": 99.13982391357422
                    }
                },
                "velocity": {
                    "x": -0.7475569248199463,
                    "y": 4.647083759307861,
                    "z": 0.015255489386618137
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.6861572265625,
                        "y": 3484.97607421875,
                        "z": 370.6878356933594
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.993968486785889,
                "transform": {
                    "location": {
                        "x": 966.7142944335938,
                        "y": 3361.713623046875,
                        "z": 369.78472900390625
                    },
                    "rotation": {
                        "roll": 0.00012274006439838558,
                        "pitch": 0.735037624835968,
                        "yaw": 99.1422348022461
                    }
                },
                "velocity": {
                    "x": -1.2698413133621216,
                    "y": 7.891884803771973,
                    "z": 0.09588651359081268
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.092144012451172,
                "transform": {
                    "location": {
                        "x": 957.9698486328125,
                        "y": 3416.04833984375,
                        "z": 370.3168640136719
                    },
                    "rotation": {
                        "roll": 0.00014877422654535621,
                        "pitch": 0.42951643466949463,
                        "yaw": 99.15776824951172
                    }
                },
                "velocity": {
                    "x": -1.2859197854995728,
                    "y": 7.989123344421387,
                    "z": 0.055820122361183167
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046454429626465,
                "transform": {
                    "location": {
                        "x": 955.0050048828125,
                        "y": 3434.474365234375,
                        "z": 370.44329833984375
                    },
                    "rotation": {
                        "roll": -0.0007629687315784395,
                        "pitch": 0.36334556341171265,
                        "yaw": 99.12461853027344
                    }
                },
                "velocity": {
                    "x": -1.2782509326934814,
                    "y": 7.944125652313232,
                    "z": 0.04865335300564766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651382446289062,
                "transform": {
                    "location": {
                        "x": 950.0951538085938,
                        "y": 3439.530029296875,
                        "z": 370.46112060546875
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.02580445259809494,
                        "yaw": 99.14324188232422
                    }
                },
                "velocity": {
                    "x": -0.5030535459518433,
                    "y": 3.1248509883880615,
                    "z": 0.018526677042245865
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162355661392212,
                "transform": {
                    "location": {
                        "x": 951.5924682617188,
                        "y": 3430.2236328125,
                        "z": 370.4080505371094
                    },
                    "rotation": {
                        "roll": 0.0003028120845556259,
                        "pitch": 0.5880109667778015,
                        "yaw": 99.13777160644531
                    }
                },
                "velocity": {
                    "x": -0.502022385597229,
                    "y": 3.122180223464966,
                    "z": 0.021366605535149574
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.521957278251648,
        "expert_target_speed": 6.137647880918387,
        "target_point": [
            30.770234290279568,
            0.7865809868354603
        ],
        "target_point_next": [
            81.76819646434843,
            1.2624434605300632
        ]
    },
    "360": {
        "acceleration": [
            -0.14950871467590332,
            0.24141311645507812,
            0.015348568558692932
        ],
        "angular_velocity": [
            -0.1715867817401886,
            0.010643982328474522,
            1.0037986040115356
        ],
        "forward_vector": [
            -0.15381090342998505,
            0.9880688190460205,
            0.007885969243943691
        ],
        "right_vector": [
            -0.9880988597869873,
            -0.15381968021392822,
            0.0005139740533195436
        ],
        "location": [
            955.63427734375,
            3413.908935546875,
            370.30462646484375
        ],
        "rotation": [
            -0.029449462890625,
            0.4518374800682068,
            98.84811401367188
        ],
        "velocity": [
            -0.8209207057952881,
            5.135379314422607,
            0.037929389625787735
        ],
        "speed": 5.200579920374558,
        "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": 17.595705032348633,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                951.4668579101562,
                3431.003662109375,
                370.41314697265625
            ],
            "velocity": [
                -0.5024880766868591,
                3.122361660003662,
                0.02173764258623123
            ],
            "speed_kmh": 11.38540005011652,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.2553100585938,
                        "y": 3485.06689453125,
                        "z": 370.6899108886719
                    },
                    "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": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.610320091247559,
                "transform": {
                    "location": {
                        "x": 954.1533203125,
                        "y": 3481.34619140625,
                        "z": 370.66912841796875
                    },
                    "rotation": {
                        "roll": 0.017428189516067505,
                        "pitch": -0.09857328236103058,
                        "yaw": -80.60496520996094
                    }
                },
                "velocity": {
                    "x": 1.1335668563842773,
                    "y": -6.512351036071777,
                    "z": -0.025417089462280273
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.972232341766357,
                "transform": {
                    "location": {
                        "x": 956.8059692382812,
                        "y": 3444.968994140625,
                        "z": 370.498779296875
                    },
                    "rotation": {
                        "roll": 0.0033608321100473404,
                        "pitch": -0.3391052186489105,
                        "yaw": -80.79426574707031
                    }
                },
                "velocity": {
                    "x": 1.2752020359039307,
                    "y": -7.869455814361572,
                    "z": -0.04491381719708443
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050143241882324,
                "transform": {
                    "location": {
                        "x": 960.897705078125,
                        "y": 3440.01171875,
                        "z": 370.4700622558594
                    },
                    "rotation": {
                        "roll": 0.0037675006315112114,
                        "pitch": -0.33547839522361755,
                        "yaw": -80.80976104736328
                    }
                },
                "velocity": {
                    "x": 1.2823559045791626,
                    "y": -7.9472198486328125,
                    "z": -0.04548518732190132
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040643692016602,
                "transform": {
                    "location": {
                        "x": 963.7955932617188,
                        "y": 3401.5654296875,
                        "z": 370.20208740234375
                    },
                    "rotation": {
                        "roll": 0.0007173841004259884,
                        "pitch": -0.501492977142334,
                        "yaw": -80.86210632324219
                    }
                },
                "velocity": {
                    "x": 1.276872992515564,
                    "y": -7.9383134841918945,
                    "z": -0.06869642436504364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007430076599121,
                "transform": {
                    "location": {
                        "x": 967.653076171875,
                        "y": 3398.050537109375,
                        "z": 370.17486572265625
                    },
                    "rotation": {
                        "roll": -0.00045777266495861113,
                        "pitch": -0.48803746700286865,
                        "yaw": -80.86238098144531
                    }
                },
                "velocity": {
                    "x": 1.2700023651123047,
                    "y": -7.905781269073486,
                    "z": -0.06824712455272675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029582023620605,
                "transform": {
                    "location": {
                        "x": 970.8828125,
                        "y": 3357.525634765625,
                        "z": 369.7164611816406
                    },
                    "rotation": {
                        "roll": -0.00021359274978749454,
                        "pitch": -0.7002241015434265,
                        "yaw": -80.86167907714844
                    }
                },
                "velocity": {
                    "x": 1.2751142978668213,
                    "y": -7.927037715911865,
                    "z": -0.10169196873903275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.064790725708008,
                "transform": {
                    "location": {
                        "x": 974.5093383789062,
                        "y": 3355.443115234375,
                        "z": 369.69268798828125
                    },
                    "rotation": {
                        "roll": 0.00019475791486911476,
                        "pitch": -0.7679386138916016,
                        "yaw": -80.85618591308594
                    }
                },
                "velocity": {
                    "x": 1.2814850807189941,
                    "y": -7.96163272857666,
                    "z": -0.10513568669557571
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.316025257110596,
                "transform": {
                    "location": {
                        "x": 969.2958374023438,
                        "y": 3346.0634765625,
                        "z": 369.6150207519531
                    },
                    "rotation": {
                        "roll": 0.005488526076078415,
                        "pitch": 0.7493194937705994,
                        "yaw": 99.79554748535156
                    }
                },
                "velocity": {
                    "x": -0.9122938513755798,
                    "y": 5.236627578735352,
                    "z": 0.07467512041330338
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.97156286239624,
                "transform": {
                    "location": {
                        "x": 963.525390625,
                        "y": 3381.525634765625,
                        "z": 370.0506286621094
                    },
                    "rotation": {
                        "roll": 0.0008593442034907639,
                        "pitch": 0.6042121648788452,
                        "yaw": 99.13990020751953
                    }
                },
                "velocity": {
                    "x": -1.2650805711746216,
                    "y": 7.87005090713501,
                    "z": 0.08765218406915665
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.192760467529297,
                "transform": {
                    "location": {
                        "x": 960.5648193359375,
                        "y": 3399.921142578125,
                        "z": 370.1973876953125
                    },
                    "rotation": {
                        "roll": 0.00044589833123609424,
                        "pitch": 0.4709278643131256,
                        "yaw": 99.14381408691406
                    }
                },
                "velocity": {
                    "x": -1.301888346672058,
                    "y": 8.088347434997559,
                    "z": 0.07108871638774872
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.030928134918213,
                "transform": {
                    "location": {
                        "x": 946.0494384765625,
                        "y": 3469.662841796875,
                        "z": 370.61944580078125
                    },
                    "rotation": {
                        "roll": -0.0005493136704899371,
                        "pitch": 0.21197490394115448,
                        "yaw": 99.13853454589844
                    }
                },
                "velocity": {
                    "x": -0.6401770114898682,
                    "y": 3.9797353744506836,
                    "z": 0.01616615243256092
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.4668579101562,
                        "y": 3486.338623046875,
                        "z": 370.693115234375
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.551456451416016,
                "transform": {
                    "location": {
                        "x": 966.3786010742188,
                        "y": 3363.79931640625,
                        "z": 369.8103332519531
                    },
                    "rotation": {
                        "roll": 0.00033393604098819196,
                        "pitch": 0.7745570540428162,
                        "yaw": 99.14717864990234
                    }
                },
                "velocity": {
                    "x": -1.359215259552002,
                    "y": 8.442116737365723,
                    "z": 0.10300491005182266
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.938414096832275,
                "transform": {
                    "location": {
                        "x": 957.6527709960938,
                        "y": 3418.017822265625,
                        "z": 370.3306579589844
                    },
                    "rotation": {
                        "roll": 0.0005957321845926344,
                        "pitch": 0.358578085899353,
                        "yaw": 99.12830352783203
                    }
                },
                "velocity": {
                    "x": -1.259576439857483,
                    "y": 7.837671279907227,
                    "z": 0.052834682166576385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045817375183105,
                "transform": {
                    "location": {
                        "x": 954.6853637695312,
                        "y": 3436.460205078125,
                        "z": 370.45562744140625
                    },
                    "rotation": {
                        "roll": 0.0013279205886647105,
                        "pitch": 0.3331766128540039,
                        "yaw": 99.15886688232422
                    }
                },
                "velocity": {
                    "x": -1.2782936096191406,
                    "y": 7.943472862243652,
                    "z": 0.048829104751348495
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.16523814201355,
                "transform": {
                    "location": {
                        "x": 949.9693603515625,
                        "y": 3440.311279296875,
                        "z": 370.46575927734375
                    },
                    "rotation": {
                        "roll": 0.0001500782382208854,
                        "pitch": 0.02585226483643055,
                        "yaw": 99.14263916015625
                    }
                },
                "velocity": {
                    "x": -0.5028761029243469,
                    "y": 3.124985933303833,
                    "z": 0.017630385234951973
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626110076904297,
                "transform": {
                    "location": {
                        "x": 951.4668579101562,
                        "y": 3431.003662109375,
                        "z": 370.41314697265625
                    },
                    "rotation": {
                        "roll": -0.0017394950846210122,
                        "pitch": 0.587710440158844,
                        "yaw": 99.13890075683594
                    }
                },
                "velocity": {
                    "x": -0.5024880766868591,
                    "y": 3.122361660003662,
                    "z": 0.02173764258623123
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5119390487670898,
        "expert_target_speed": 6.105605552092362,
        "target_point": [
            29.47727173284978,
            0.6556328693791302
        ],
        "target_point_next": [
            80.47678096931435,
            0.9176417268536063
        ]
    },
    "365": {
        "acceleration": [
            -0.7012307643890381,
            3.704662322998047,
            -0.0022682547569274902
        ],
        "angular_velocity": [
            0.8076676726341248,
            0.14910650253295898,
            1.161050796508789
        ],
        "forward_vector": [
            -0.15831857919692993,
            0.9873109459877014,
            0.012343330308794975
        ],
        "right_vector": [
            -0.9873846769332886,
            -0.15833845734596252,
            0.0006460337899625301
        ],
        "location": [
            955.4055786132812,
            3415.3251953125,
            370.3138732910156
        ],
        "rotation": [
            -0.037017833441495895,
            0.7072387337684631,
            99.11001586914062
        ],
        "velocity": [
            -1.024380087852478,
            6.239917278289795,
            0.04190227389335632
        ],
        "speed": 6.32344227492338,
        "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": 16.953445434570312,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                951.34130859375,
                3431.783935546875,
                370.4182434082031
            ],
            "velocity": [
                -0.5023462176322937,
                3.1225781440734863,
                0.021260270848870277
            ],
            "speed_kmh": 11.386076669152361,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.648448944091797,
                "transform": {
                    "location": {
                        "x": 950.5678100585938,
                        "y": 3483.127685546875,
                        "z": 370.6761169433594
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": -0.26989489793777466,
                        "yaw": -80.84076690673828
                    }
                },
                "velocity": {
                    "x": 1.0726745128631592,
                    "y": -6.56113862991333,
                    "z": -0.05197296664118767
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.681008815765381,
                "transform": {
                    "location": {
                        "x": 954.43701171875,
                        "y": 3479.709716796875,
                        "z": 370.66357421875
                    },
                    "rotation": {
                        "roll": -0.002929684007540345,
                        "pitch": -0.21127140522003174,
                        "yaw": -80.27166748046875
                    }
                },
                "velocity": {
                    "x": 1.1225345134735107,
                    "y": -6.585978984832764,
                    "z": -0.026069549843668938
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.095819473266602,
                "transform": {
                    "location": {
                        "x": 957.1276245117188,
                        "y": 3442.98046875,
                        "z": 370.4873046875
                    },
                    "rotation": {
                        "roll": 0.004389635752886534,
                        "pitch": -0.3126177489757538,
                        "yaw": -80.81283569335938
                    }
                },
                "velocity": {
                    "x": 1.2914295196533203,
                    "y": -7.992018699645996,
                    "z": -0.046227362006902695
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046880722045898,
                "transform": {
                    "location": {
                        "x": 961.2177734375,
                        "y": 3438.02685546875,
                        "z": 370.45843505859375
                    },
                    "rotation": {
                        "roll": -0.00021362045663408935,
                        "pitch": -0.3341738283634186,
                        "yaw": -80.85211181640625
                    }
                },
                "velocity": {
                    "x": 1.2816251516342163,
                    "y": -7.944033622741699,
                    "z": -0.04539348930120468
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023816108703613,
                "transform": {
                    "location": {
                        "x": 964.114501953125,
                        "y": 3399.583251953125,
                        "z": 370.1847839355469
                    },
                    "rotation": {
                        "roll": 0.0015409330371767282,
                        "pitch": -0.49938926100730896,
                        "yaw": -80.86222076416016
                    }
                },
                "velocity": {
                    "x": 1.2742178440093994,
                    "y": -7.921699523925781,
                    "z": -0.06832505762577057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068927764892578,
                "transform": {
                    "location": {
                        "x": 967.97216796875,
                        "y": 3396.06640625,
                        "z": 370.1571350097656
                    },
                    "rotation": {
                        "roll": -0.00039672714774496853,
                        "pitch": -0.513213574886322,
                        "yaw": -80.86363983154297
                    }
                },
                "velocity": {
                    "x": 1.28116774559021,
                    "y": -7.966197967529297,
                    "z": -0.07676838338375092
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080644607543945,
                "transform": {
                    "location": {
                        "x": 971.2026977539062,
                        "y": 3355.537841796875,
                        "z": 369.6907653808594
                    },
                    "rotation": {
                        "roll": -9.154844156000763e-05,
                        "pitch": -0.7528985142707825,
                        "yaw": -80.85765075683594
                    }
                },
                "velocity": {
                    "x": 1.283790111541748,
                    "y": -7.977334499359131,
                    "z": -0.10412328690290451
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052361488342285,
                "transform": {
                    "location": {
                        "x": 974.8295288085938,
                        "y": 3353.454345703125,
                        "z": 369.6658935546875
                    },
                    "rotation": {
                        "roll": 0.0002562349254731089,
                        "pitch": -0.7641273736953735,
                        "yaw": -80.85626983642578
                    }
                },
                "velocity": {
                    "x": 1.2795108556747437,
                    "y": -7.9493255615234375,
                    "z": -0.10771561414003372
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.29270601272583,
                "transform": {
                    "location": {
                        "x": 969.08349609375,
                        "y": 3347.3154296875,
                        "z": 369.6324462890625
                    },
                    "rotation": {
                        "roll": 0.011791329830884933,
                        "pitch": 0.7596467733383179,
                        "yaw": 99.67206573486328
                    }
                },
                "velocity": {
                    "x": -0.8742641806602478,
                    "y": 5.21950101852417,
                    "z": 0.07216706871986389
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.656145095825195,
                "transform": {
                    "location": {
                        "x": 963.1937866210938,
                        "y": 3383.588134765625,
                        "z": 370.07275390625
                    },
                    "rotation": {
                        "roll": 7.025455852271989e-05,
                        "pitch": 0.6837292313575745,
                        "yaw": 99.13783264160156
                    }
                },
                "velocity": {
                    "x": -1.3741854429244995,
                    "y": 8.545844078063965,
                    "z": 0.09496366232633591
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.241910934448242,
                "transform": {
                    "location": {
                        "x": 960.243408203125,
                        "y": 3401.918701171875,
                        "z": 370.2147521972656
                    },
                    "rotation": {
                        "roll": -6.104707426857203e-05,
                        "pitch": 0.49308499693870544,
                        "yaw": 99.14118194580078
                    }
                },
                "velocity": {
                    "x": -1.3092560768127441,
                    "y": 8.136959075927734,
                    "z": 0.06958410143852234
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.7196807861328125,
                "transform": {
                    "location": {
                        "x": 945.8756103515625,
                        "y": 3470.7431640625,
                        "z": 370.623779296875
                    },
                    "rotation": {
                        "roll": 0.0011563004227355123,
                        "pitch": 0.2482227236032486,
                        "yaw": 99.1404800415039
                    }
                },
                "velocity": {
                    "x": -0.7498826384544373,
                    "y": 4.659689426422119,
                    "z": 0.01883774623274803
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.2386474609375,
                        "y": 3487.757080078125,
                        "z": 370.6986389160156
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.782018184661865,
                "transform": {
                    "location": {
                        "x": 966.0564575195312,
                        "y": 3365.800537109375,
                        "z": 369.83428955078125
                    },
                    "rotation": {
                        "roll": 0.00040028232615441084,
                        "pitch": 0.6088840365409851,
                        "yaw": 99.14187622070312
                    }
                },
                "velocity": {
                    "x": -1.2365487813949585,
                    "y": 7.68258810043335,
                    "z": 0.09272376447916031
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.07511043548584,
                "transform": {
                    "location": {
                        "x": 957.3346557617188,
                        "y": 3419.99560546875,
                        "z": 370.34393310546875
                    },
                    "rotation": {
                        "roll": 0.000848259951453656,
                        "pitch": 0.41730403900146484,
                        "yaw": 99.1528549194336
                    }
                },
                "velocity": {
                    "x": -1.2826502323150635,
                    "y": 7.972412586212158,
                    "z": 0.0533951073884964
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046812057495117,
                "transform": {
                    "location": {
                        "x": 954.3656005859375,
                        "y": 3438.446533203125,
                        "z": 370.4672546386719
                    },
                    "rotation": {
                        "roll": -0.00030517586856149137,
                        "pitch": 0.33296486735343933,
                        "yaw": 99.13435363769531
                    }
                },
                "velocity": {
                    "x": -1.2796694040298462,
                    "y": 7.944282054901123,
                    "z": 0.04492827132344246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164987802505493,
                "transform": {
                    "location": {
                        "x": 949.8436279296875,
                        "y": 3441.092529296875,
                        "z": 370.47027587890625
                    },
                    "rotation": {
                        "roll": 0.00046154556912370026,
                        "pitch": 0.0258181132376194,
                        "yaw": 99.1432876586914
                    }
                },
                "velocity": {
                    "x": -0.5029811859130859,
                    "y": 3.1247165203094482,
                    "z": 0.017443208023905754
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162799119949341,
                "transform": {
                    "location": {
                        "x": 951.34130859375,
                        "y": 3431.783935546875,
                        "z": 370.4182434082031
                    },
                    "rotation": {
                        "roll": 0.0015027208719402552,
                        "pitch": 0.5887008309364319,
                        "yaw": 99.13794708251953
                    }
                },
                "velocity": {
                    "x": -0.5023462176322937,
                    "y": 3.1225781440734863,
                    "z": 0.021260270848870277
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.48356136679649353,
        "expert_target_speed": 7.02730493407258,
        "target_point": [
            28.045355605955567,
            0.5192963749041271
        ],
        "target_point_next": [
            79.04552970138964,
            0.5481622205529639
        ]
    },
    "370": {
        "acceleration": [
            -0.715172290802002,
            3.2285022735595703,
            0.028560608625411987
        ],
        "angular_velocity": [
            -0.05182025581598282,
            0.04609580710530281,
            1.420953631401062
        ],
        "forward_vector": [
            -0.16362901031970978,
            0.9864312410354614,
            0.0133754787966609
        ],
        "right_vector": [
            -0.9865174889564514,
            -0.16365408897399902,
            0.0007940828800201416
        ],
        "location": [
            955.1275024414062,
            3416.998046875,
            370.324951171875
        ],
        "rotation": [
            -0.045501671731472015,
            0.7663813233375549,
            99.41844940185547
        ],
        "velocity": [
            -1.1975528001785278,
            7.067682266235352,
            0.04758881404995918
        ],
        "speed": 7.168421397049221,
        "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": 16.050460815429688,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                951.2156982421875,
                3432.564208984375,
                370.42333984375
            ],
            "velocity": [
                -0.5026535391807556,
                3.122370958328247,
                0.02114257775247097
            ],
            "speed_kmh": 11.385513232011885,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.867336273193359,
                "transform": {
                    "location": {
                        "x": 950.8457641601562,
                        "y": 3481.460205078125,
                        "z": 370.6647644042969
                    },
                    "rotation": {
                        "roll": -0.004425066988915205,
                        "pitch": -0.2384282350540161,
                        "yaw": -80.5072250366211
                    }
                },
                "velocity": {
                    "x": 1.160114049911499,
                    "y": -6.768548488616943,
                    "z": -0.03463045880198479
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.597714900970459,
                "transform": {
                    "location": {
                        "x": 954.71435546875,
                        "y": 3478.07373046875,
                        "z": 370.6570129394531
                    },
                    "rotation": {
                        "roll": -0.0031738230027258396,
                        "pitch": -0.23400910198688507,
                        "yaw": -80.35453796386719
                    }
                },
                "velocity": {
                    "x": 1.0980643033981323,
                    "y": -6.505645751953125,
                    "z": -0.025919489562511444
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.990825653076172,
                "transform": {
                    "location": {
                        "x": 957.4482421875,
                        "y": 3440.99609375,
                        "z": 370.4757385253906
                    },
                    "rotation": {
                        "roll": 0.001676642568781972,
                        "pitch": -0.3507370352745056,
                        "yaw": -80.82044219970703
                    }
                },
                "velocity": {
                    "x": 1.274731159210205,
                    "y": -7.888367176055908,
                    "z": -0.04490476846694946
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058924674987793,
                "transform": {
                    "location": {
                        "x": 961.53857421875,
                        "y": 3436.03857421875,
                        "z": 370.4464111328125
                    },
                    "rotation": {
                        "roll": -0.0017394897295162082,
                        "pitch": -0.3514678478240967,
                        "yaw": -80.82054138183594
                    }
                },
                "velocity": {
                    "x": 1.2837011814117432,
                    "y": -7.955878257751465,
                    "z": -0.04880690947175026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0399751663208,
                "transform": {
                    "location": {
                        "x": 964.433349609375,
                        "y": 3397.600830078125,
                        "z": 370.1675720214844
                    },
                    "rotation": {
                        "roll": 0.0007882762583903968,
                        "pitch": -0.4977363348007202,
                        "yaw": -80.86233520507812
                    }
                },
                "velocity": {
                    "x": 1.2767630815505981,
                    "y": -7.937655925750732,
                    "z": -0.06852424144744873
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00815200805664,
                "transform": {
                    "location": {
                        "x": 968.2911376953125,
                        "y": 3394.082763671875,
                        "z": 370.138427734375
                    },
                    "rotation": {
                        "roll": -0.0004882753419224173,
                        "pitch": -0.5626504421234131,
                        "yaw": -80.86412048339844
                    }
                },
                "velocity": {
                    "x": 1.2714927196502686,
                    "y": -7.9062018394470215,
                    "z": -0.07604043930768967
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02820110321045,
                "transform": {
                    "location": {
                        "x": 971.5223999023438,
                        "y": 3353.5498046875,
                        "z": 369.6642761230469
                    },
                    "rotation": {
                        "roll": -0.0008239647722803056,
                        "pitch": -0.7642229795455933,
                        "yaw": -80.86296844482422
                    }
                },
                "velocity": {
                    "x": 1.2747894525527954,
                    "y": -7.9256157875061035,
                    "z": -0.10738816112279892
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.064736366271973,
                "transform": {
                    "location": {
                        "x": 975.1495971679688,
                        "y": 3351.46533203125,
                        "z": 369.6392517089844
                    },
                    "rotation": {
                        "roll": 0.0015397837851196527,
                        "pitch": -0.7630277276039124,
                        "yaw": -80.85630798339844
                    }
                },
                "velocity": {
                    "x": 1.2814973592758179,
                    "y": -7.961548328399658,
                    "z": -0.10714110732078552
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.519684314727783,
                "transform": {
                    "location": {
                        "x": 968.8628540039062,
                        "y": 3348.628662109375,
                        "z": 369.650390625
                    },
                    "rotation": {
                        "roll": 0.007571491878479719,
                        "pitch": 0.7835729122161865,
                        "yaw": 99.57463073730469
                    }
                },
                "velocity": {
                    "x": -0.9115163087844849,
                    "y": 5.443416118621826,
                    "z": 0.07261825352907181
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.184170722961426,
                "transform": {
                    "location": {
                        "x": 962.8603515625,
                        "y": 3385.65966796875,
                        "z": 370.0955505371094
                    },
                    "rotation": {
                        "roll": 0.0003535865107551217,
                        "pitch": 0.570375382900238,
                        "yaw": 99.13996124267578
                    }
                },
                "velocity": {
                    "x": -1.3004145622253418,
                    "y": 8.0797700881958,
                    "z": 0.08295745402574539
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.334959030151367,
                "transform": {
                    "location": {
                        "x": 959.9065551757812,
                        "y": 3404.01220703125,
                        "z": 370.23236083984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4857971668243408,
                        "yaw": 99.14044189453125
                    }
                },
                "velocity": {
                    "x": -1.3240604400634766,
                    "y": 8.228848457336426,
                    "z": 0.0667804703116417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.261922359466553,
                "transform": {
                    "location": {
                        "x": 945.674560546875,
                        "y": 3471.992431640625,
                        "z": 370.62933349609375
                    },
                    "rotation": {
                        "roll": 8.337711915373802e-05,
                        "pitch": 0.25005319714546204,
                        "yaw": 99.1427993774414
                    }
                },
                "velocity": {
                    "x": -0.8359963893890381,
                    "y": 5.195042610168457,
                    "z": 0.021616104990243912
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.97607421875,
                        "y": 3489.388916015625,
                        "z": 370.7047424316406
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.194062232971191,
                "transform": {
                    "location": {
                        "x": 965.7431030273438,
                        "y": 3367.747314453125,
                        "z": 369.8575744628906
                    },
                    "rotation": {
                        "roll": 0.0005411189631558955,
                        "pitch": 0.6961396932601929,
                        "yaw": 99.14326477050781
                    }
                },
                "velocity": {
                    "x": -1.3018637895584106,
                    "y": 8.089437484741211,
                    "z": 0.09385604411363602
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017807960510254,
                "transform": {
                    "location": {
                        "x": 957.0146484375,
                        "y": 3421.984375,
                        "z": 370.35760498046875
                    },
                    "rotation": {
                        "roll": 0.00025564461247995496,
                        "pitch": 0.3963421881198883,
                        "yaw": 99.12267303466797
                    }
                },
                "velocity": {
                    "x": -1.2730649709701538,
                    "y": 7.915916442871094,
                    "z": 0.05302312597632408
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045421600341797,
                "transform": {
                    "location": {
                        "x": 954.0457763671875,
                        "y": 3440.432373046875,
                        "z": 370.47882080078125
                    },
                    "rotation": {
                        "roll": 0.0017621787264943123,
                        "pitch": 0.3341396749019623,
                        "yaw": 99.1661605834961
                    }
                },
                "velocity": {
                    "x": -1.2790014743804932,
                    "y": 7.942978382110596,
                    "z": 0.04535706341266632
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650760173797607,
                "transform": {
                    "location": {
                        "x": 949.7179565429688,
                        "y": 3441.873779296875,
                        "z": 370.47491455078125
                    },
                    "rotation": {
                        "roll": 4.246857133693993e-05,
                        "pitch": 0.02619377337396145,
                        "yaw": 99.14318084716797
                    }
                },
                "velocity": {
                    "x": -0.5030360817909241,
                    "y": 3.1247918605804443,
                    "z": 0.01836739480495453
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.16264271736145,
                "transform": {
                    "location": {
                        "x": 951.2156982421875,
                        "y": 3432.564208984375,
                        "z": 370.42333984375
                    },
                    "rotation": {
                        "roll": 0.0016129433643072844,
                        "pitch": 0.5882499814033508,
                        "yaw": 99.1383285522461
                    }
                },
                "velocity": {
                    "x": -0.5026535391807556,
                    "y": 3.122370958328247,
                    "z": 0.02114257775247097
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4023045003414154,
        "expert_target_speed": 7.660129611698965,
        "target_point": [
            26.35193835137462,
            0.36775723390289894
        ],
        "target_point_next": [
            77.35152903812946,
            0.12211361990337188
        ]
    },
    "375": {
        "acceleration": [
            -0.589907169342041,
            2.424001693725586,
            0.01477852463722229
        ],
        "angular_velocity": [
            -0.12036078423261642,
            0.022514507174491882,
            1.3872058391571045
        ],
        "forward_vector": [
            -0.16943691670894623,
            0.9854564070701599,
            0.012914654798805714
        ],
        "right_vector": [
            -0.9855360388755798,
            -0.1694631576538086,
            0.0009581259801052511
        ],
        "location": [
            954.8084716796875,
            3418.85498046875,
            370.3377990722656
        ],
        "rotation": [
            -0.05490116402506828,
            0.7399758100509644,
            99.75590515136719
        ],
        "velocity": [
            -1.3571003675460815,
            7.750680923461914,
            0.05290893465280533
        ],
        "speed": 7.868594295356073,
        "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": 14.959508895874023,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                951.0901489257812,
                3433.3447265625,
                370.428466796875
            ],
            "velocity": [
                -0.5021581053733826,
                3.1223950386047363,
                0.021736707538366318
            ],
            "speed_kmh": 11.38532998536184,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.632018089294434,
                "transform": {
                    "location": {
                        "x": 951.130859375,
                        "y": 3479.79833984375,
                        "z": 370.6574401855469
                    },
                    "rotation": {
                        "roll": -0.004638670012354851,
                        "pitch": -0.23107895255088806,
                        "yaw": -80.22880554199219
                    }
                },
                "velocity": {
                    "x": 1.1374071836471558,
                    "y": -6.533696174621582,
                    "z": -0.027938369661569595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.206490993499756,
                "transform": {
                    "location": {
                        "x": 954.9845581054688,
                        "y": 3476.4736328125,
                        "z": 370.6500244140625
                    },
                    "rotation": {
                        "roll": -0.0024414199870079756,
                        "pitch": -0.19711241126060486,
                        "yaw": -80.40074157714844
                    }
                },
                "velocity": {
                    "x": 1.0319931507110596,
                    "y": -6.120038986206055,
                    "z": -0.025413135066628456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042428970336914,
                "transform": {
                    "location": {
                        "x": 957.767333984375,
                        "y": 3439.01953125,
                        "z": 370.4640197753906
                    },
                    "rotation": {
                        "roll": 0.002848757663741708,
                        "pitch": -0.3352939784526825,
                        "yaw": -80.82987213134766
                    }
                },
                "velocity": {
                    "x": 1.2804824113845825,
                    "y": -7.939708232879639,
                    "z": -0.04537731409072876
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050052642822266,
                "transform": {
                    "location": {
                        "x": 961.8587036132812,
                        "y": 3434.05078125,
                        "z": 370.4339904785156
                    },
                    "rotation": {
                        "roll": 0.0004623282002285123,
                        "pitch": -0.37310588359832764,
                        "yaw": -80.86323547363281
                    }
                },
                "velocity": {
                    "x": 1.279517412185669,
                    "y": -7.947544574737549,
                    "z": -0.052100080996751785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0255126953125,
                "transform": {
                    "location": {
                        "x": 964.7522583007812,
                        "y": 3395.61865234375,
                        "z": 370.14984130859375
                    },
                    "rotation": {
                        "roll": -0.0002746863756328821,
                        "pitch": -0.521355152130127,
                        "yaw": -80.86228942871094
                    }
                },
                "velocity": {
                    "x": 1.2744048833847046,
                    "y": -7.923336505889893,
                    "z": -0.07399297505617142
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068160057067871,
                "transform": {
                    "location": {
                        "x": 968.6102905273438,
                        "y": 3392.0986328125,
                        "z": 370.11871337890625
                    },
                    "rotation": {
                        "roll": 0.0004577779327519238,
                        "pitch": -0.5607243776321411,
                        "yaw": -80.86370086669922
                    }
                },
                "velocity": {
                    "x": 1.2810112237930298,
                    "y": -7.96541690826416,
                    "z": -0.07962000370025635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081050872802734,
                "transform": {
                    "location": {
                        "x": 971.8421630859375,
                        "y": 3351.56201171875,
                        "z": 369.6374816894531
                    },
                    "rotation": {
                        "roll": -0.0022887950763106346,
                        "pitch": -0.7602478265762329,
                        "yaw": -80.86028289794922
                    }
                },
                "velocity": {
                    "x": 1.2856881618499756,
                    "y": -7.977390766143799,
                    "z": -0.10786765813827515
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.4443359375,
                        "y": 3349.43115234375,
                        "z": 369.6121826171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7983944416046143,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.5902709960938,
                        "y": 3350.638916015625,
                        "z": 369.6482238769531
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.537599563598633,
                "transform": {
                    "location": {
                        "x": 962.5285034179688,
                        "y": 3387.72216796875,
                        "z": 370.11627197265625
                    },
                    "rotation": {
                        "roll": -0.0003662343369796872,
                        "pitch": 0.5807777643203735,
                        "yaw": 99.1460189819336
                    }
                },
                "velocity": {
                    "x": -1.3565746545791626,
                    "y": 8.42872142791748,
                    "z": 0.08349544554948807
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.76600456237793,
                "transform": {
                    "location": {
                        "x": 959.5913696289062,
                        "y": 3405.970458984375,
                        "z": 370.2481689453125
                    },
                    "rotation": {
                        "roll": -0.0005188232171349227,
                        "pitch": 0.33759573101997375,
                        "yaw": 99.14339447021484
                    }
                },
                "velocity": {
                    "x": -1.23410165309906,
                    "y": 7.667078018188477,
                    "z": 0.06111561506986618
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.146891117095947,
                "transform": {
                    "location": {
                        "x": 945.4500732421875,
                        "y": 3473.388671875,
                        "z": 370.63494873046875
                    },
                    "rotation": {
                        "roll": -0.0003967286320403218,
                        "pitch": 0.2590349018573761,
                        "yaw": 99.15709686279297
                    }
                },
                "velocity": {
                    "x": -0.9774009585380554,
                    "y": 6.068634986877441,
                    "z": 0.025069665163755417
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.6768798828125,
                        "y": 3491.248291015625,
                        "z": 370.71148681640625
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.463510513305664,
                "transform": {
                    "location": {
                        "x": 965.4060668945312,
                        "y": 3369.842529296875,
                        "z": 369.8819885253906
                    },
                    "rotation": {
                        "roll": -0.00030511373188346624,
                        "pitch": 0.7045544385910034,
                        "yaw": 99.1424331665039
                    }
                },
                "velocity": {
                    "x": -1.3445696830749512,
                    "y": 8.35544204711914,
                    "z": 0.0986318588256836
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007356643676758,
                "transform": {
                    "location": {
                        "x": 956.6973876953125,
                        "y": 3423.958251953125,
                        "z": 370.37115478515625
                    },
                    "rotation": {
                        "roll": -0.00051879946840927,
                        "pitch": 0.3888426423072815,
                        "yaw": 99.14861297607422
                    }
                },
                "velocity": {
                    "x": -1.272255539894104,
                    "y": 7.905461311340332,
                    "z": 0.05301506817340851
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04674243927002,
                "transform": {
                    "location": {
                        "x": 953.7261352539062,
                        "y": 3442.41845703125,
                        "z": 370.49041748046875
                    },
                    "rotation": {
                        "roll": 0.0005471314652822912,
                        "pitch": 0.3346450924873352,
                        "yaw": 99.1312255859375
                    }
                },
                "velocity": {
                    "x": -1.2793375253677368,
                    "y": 7.9442596435546875,
                    "z": 0.0458180233836174
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165191173553467,
                "transform": {
                    "location": {
                        "x": 949.5922241210938,
                        "y": 3442.655029296875,
                        "z": 370.47943115234375
                    },
                    "rotation": {
                        "roll": 0.00040546164382249117,
                        "pitch": 0.02556539699435234,
                        "yaw": 99.14295959472656
                    }
                },
                "velocity": {
                    "x": -0.5032328367233276,
                    "y": 3.124877452850342,
                    "z": 0.0182175450026989
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625916957855225,
                "transform": {
                    "location": {
                        "x": 951.0901489257812,
                        "y": 3433.3447265625,
                        "z": 370.428466796875
                    },
                    "rotation": {
                        "roll": 0.00028490860131569207,
                        "pitch": 0.5883456468582153,
                        "yaw": 99.13841247558594
                    }
                },
                "velocity": {
                    "x": -0.5021581053733826,
                    "y": 3.1223950386047363,
                    "z": 0.021736707538366318
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.36872178316116333,
        "expert_target_speed": 0,
        "target_point": [
            24.469507616646872,
            0.21276555444511924
        ],
        "target_point_next": [
            75.46676650008634,
            -0.3332906487832048
        ]
    },
    "380": {
        "acceleration": [
            -0.06016731262207031,
            -0.9007072448730469,
            -0.0013568997383117676
        ],
        "angular_velocity": [
            -1.1166105270385742,
            -0.1835993379354477,
            1.4812828302383423
        ],
        "forward_vector": [
            -0.17567996680736542,
            0.9843875765800476,
            0.010847832076251507
        ],
        "right_vector": [
            -0.984442949295044,
            -0.17570152878761292,
            0.0010588105069473386
        ],
        "location": [
            954.4537353515625,
            3420.8505859375,
            370.3518981933594
        ],
        "rotation": [
            -0.0606689527630806,
            0.6215471625328064,
            100.11883544921875
        ],
        "velocity": [
            -1.4532979726791382,
            8.008460998535156,
            0.05465798079967499
        ],
        "speed": 8.139258108848251,
        "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": 13.725567817687988,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                950.9645385742188,
                3434.125,
                370.4334716796875
            ],
            "velocity": [
                -0.5023656487464905,
                3.1226069927215576,
                0.021138714626431465
            ],
            "speed_kmh": 11.386187381029693,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.932981967926025,
                "transform": {
                    "location": {
                        "x": 951.4171142578125,
                        "y": 3478.1337890625,
                        "z": 370.65057373046875
                    },
                    "rotation": {
                        "roll": -0.0020752076525241137,
                        "pitch": -0.23497898876667023,
                        "yaw": -80.24173736572266
                    }
                },
                "velocity": {
                    "x": 1.1588749885559082,
                    "y": -6.8353776931762695,
                    "z": -0.029367145150899887
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.208618640899658,
                "transform": {
                    "location": {
                        "x": 955.2389526367188,
                        "y": 3474.966796875,
                        "z": 370.6439514160156
                    },
                    "rotation": {
                        "roll": -0.0011596876429393888,
                        "pitch": -0.23221275210380554,
                        "yaw": -80.41624450683594
                    }
                },
                "velocity": {
                    "x": 1.032440423965454,
                    "y": -6.1221208572387695,
                    "z": -0.025559620931744576
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033806800842285,
                "transform": {
                    "location": {
                        "x": 958.08740234375,
                        "y": 3437.033447265625,
                        "z": 370.45233154296875
                    },
                    "rotation": {
                        "roll": 0.001574758323840797,
                        "pitch": -0.3309294879436493,
                        "yaw": -80.84709167480469
                    }
                },
                "velocity": {
                    "x": 1.2777843475341797,
                    "y": -7.931410312652588,
                    "z": -0.0453016497194767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05341625213623,
                "transform": {
                    "location": {
                        "x": 962.1786499023438,
                        "y": 3432.063720703125,
                        "z": 370.4208984375
                    },
                    "rotation": {
                        "roll": 0.002477169269695878,
                        "pitch": -0.37085193395614624,
                        "yaw": -80.83934020996094
                    }
                },
                "velocity": {
                    "x": 1.279859185218811,
                    "y": -7.950891017913818,
                    "z": -0.05288560688495636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03933334350586,
                "transform": {
                    "location": {
                        "x": 965.071044921875,
                        "y": 3393.636474609375,
                        "z": 370.13134765625
                    },
                    "rotation": {
                        "roll": -0.0002441381075186655,
                        "pitch": -0.5729367136955261,
                        "yaw": -80.86235809326172
                    }
                },
                "velocity": {
                    "x": 1.2766550779342651,
                    "y": -7.936934471130371,
                    "z": -0.07808132469654083
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009658813476562,
                "transform": {
                    "location": {
                        "x": 968.929443359375,
                        "y": 3390.114990234375,
                        "z": 370.0990295410156
                    },
                    "rotation": {
                        "roll": 0.0002768759150058031,
                        "pitch": -0.5579512715339661,
                        "yaw": -80.86036682128906
                    }
                },
                "velocity": {
                    "x": 1.2722253799438477,
                    "y": -7.907571792602539,
                    "z": -0.07997097074985504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.1370849609375,
                        "y": 3349.513671875,
                        "z": 369.6136169433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7983944416046143,
                        "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": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.721923828125,
                        "y": 3347.366455078125,
                        "z": 369.5848693847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7983944416046143,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.3369140625,
                        "y": 3352.194580078125,
                        "z": 369.6796875
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.89755392074585,
                "transform": {
                    "location": {
                        "x": 962.2035522460938,
                        "y": 3389.7412109375,
                        "z": 370.13671875
                    },
                    "rotation": {
                        "roll": 0.00035323656629770994,
                        "pitch": 0.5172911882400513,
                        "yaw": 99.13817596435547
                    }
                },
                "velocity": {
                    "x": -1.2531923055648804,
                    "y": 7.79711389541626,
                    "z": 0.07670117914676666
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.485345840454102,
                "transform": {
                    "location": {
                        "x": 959.2702026367188,
                        "y": 3407.966064453125,
                        "z": 370.2630310058594
                    },
                    "rotation": {
                        "roll": -0.0008239782764576375,
                        "pitch": 0.5157611966133118,
                        "yaw": 99.14376068115234
                    }
                },
                "velocity": {
                    "x": -1.3483223915100098,
                    "y": 8.377317428588867,
                    "z": 0.060616739094257355
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.025040626525879,
                "transform": {
                    "location": {
                        "x": 945.1934204101562,
                        "y": 3474.981689453125,
                        "z": 370.6416015625
                    },
                    "rotation": {
                        "roll": -0.0007018892210908234,
                        "pitch": 0.26126837730407715,
                        "yaw": 99.16747283935547
                    }
                },
                "velocity": {
                    "x": -1.1175286769866943,
                    "y": 6.935519218444824,
                    "z": 0.029957836493849754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.354736328125,
                        "y": 3493.2509765625,
                        "z": 370.71875
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.880229949951172,
                "transform": {
                    "location": {
                        "x": 965.080810546875,
                        "y": 3371.863037109375,
                        "z": 369.9055480957031
                    },
                    "rotation": {
                        "roll": 0.0003776825324166566,
                        "pitch": 0.606268048286438,
                        "yaw": 99.14116668701172
                    }
                },
                "velocity": {
                    "x": -1.252624750137329,
                    "y": 7.779499530792236,
                    "z": 0.09132900089025497
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.044963836669922,
                "transform": {
                    "location": {
                        "x": 956.378173828125,
                        "y": 3425.94140625,
                        "z": 370.3843994140625
                    },
                    "rotation": {
                        "roll": -0.00021363521227613091,
                        "pitch": 0.39431363344192505,
                        "yaw": 99.12837982177734
                    }
                },
                "velocity": {
                    "x": -1.2782347202301025,
                    "y": 7.942592620849609,
                    "z": 0.05277250334620476
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046442031860352,
                "transform": {
                    "location": {
                        "x": 953.40625,
                        "y": 3444.404541015625,
                        "z": 370.501708984375
                    },
                    "rotation": {
                        "roll": 0.00021961003949400038,
                        "pitch": 0.32122376561164856,
                        "yaw": 99.16484832763672
                    }
                },
                "velocity": {
                    "x": -1.2791167497634888,
                    "y": 7.943996906280518,
                    "z": 0.0447855070233345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164928674697876,
                "transform": {
                    "location": {
                        "x": 949.4664916992188,
                        "y": 3443.436279296875,
                        "z": 370.4840393066406
                    },
                    "rotation": {
                        "roll": 0.0030738655477762222,
                        "pitch": 0.027716906741261482,
                        "yaw": 99.14306640625
                    }
                },
                "velocity": {
                    "x": -0.5032950639724731,
                    "y": 3.1246047019958496,
                    "z": 0.01771344058215618
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162829875946045,
                "transform": {
                    "location": {
                        "x": 950.9645385742188,
                        "y": 3434.125,
                        "z": 370.4334716796875
                    },
                    "rotation": {
                        "roll": 0.0011217828141525388,
                        "pitch": 0.5810646414756775,
                        "yaw": 99.13847351074219
                    }
                },
                "velocity": {
                    "x": -0.5023656487464905,
                    "y": 3.1226069927215576,
                    "z": 0.021138714626431465
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.30603086948394775,
        "expert_target_speed": 0,
        "target_point": [
            22.44347585801419,
            0.05917158540133993
        ],
        "target_point_next": [
            73.43625341101571,
            -0.8098672121987303
        ]
    },
    "385": {
        "acceleration": [
            0.6078672409057617,
            -3.869142532348633,
            -0.021191388368606567
        ],
        "angular_velocity": [
            -1.2103692293167114,
            -0.25546616315841675,
            1.0335720777511597
        ],
        "forward_vector": [
            -0.18122543394565582,
            0.9834287762641907,
            0.005019166506826878
        ],
        "right_vector": [
            -0.9834399819374084,
            -0.18123199045658112,
            0.0008809627033770084
        ],
        "location": [
            954.1024780273438,
            3422.763427734375,
            370.3662414550781
        ],
        "rotation": [
            -0.050476085394620895,
            0.2875782549381256,
            100.44127655029297
        ],
        "velocity": [
            -1.3570544719696045,
            7.274576187133789,
            0.05095536261796951
        ],
        "speed": 7.400071320082441,
        "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": 12.572734832763672,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                950.8390502929688,
                3434.905029296875,
                370.4383239746094
            ],
            "velocity": [
                -0.5025137066841125,
                3.122633934020996,
                0.02079346589744091
            ],
            "speed_kmh": 11.38635956883034,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.924281597137451,
                "transform": {
                    "location": {
                        "x": 951.72412109375,
                        "y": 3476.31982421875,
                        "z": 370.6427917480469
                    },
                    "rotation": {
                        "roll": -0.0013122528325766325,
                        "pitch": -0.21750053763389587,
                        "yaw": -80.4037857055664
                    }
                },
                "velocity": {
                    "x": 1.3117517232894897,
                    "y": -7.814891338348389,
                    "z": -0.031947892159223557
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.245935440063477,
                "transform": {
                    "location": {
                        "x": 955.513671875,
                        "y": 3473.30908203125,
                        "z": 370.63763427734375
                    },
                    "rotation": {
                        "roll": -0.004699722398072481,
                        "pitch": -0.31750816106796265,
                        "yaw": -80.53990936279297
                    }
                },
                "velocity": {
                    "x": 1.1771793365478516,
                    "y": -7.149609088897705,
                    "z": -0.03031168319284916
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026066780090332,
                "transform": {
                    "location": {
                        "x": 958.4061279296875,
                        "y": 3435.052978515625,
                        "z": 370.4402770996094
                    },
                    "rotation": {
                        "roll": 0.0007268562912940979,
                        "pitch": -0.36562684178352356,
                        "yaw": -80.85881805419922
                    }
                },
                "velocity": {
                    "x": 1.274854302406311,
                    "y": -7.924018383026123,
                    "z": -0.04921741038560867
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05486011505127,
                "transform": {
                    "location": {
                        "x": 962.4985961914062,
                        "y": 3430.075439453125,
                        "z": 370.4078674316406
                    },
                    "rotation": {
                        "roll": 0.001218146993778646,
                        "pitch": -0.3704489469528198,
                        "yaw": -80.87199401855469
                    }
                },
                "velocity": {
                    "x": 1.2801518440246582,
                    "y": -7.952308177947998,
                    "z": -0.052662577480077744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025973320007324,
                "transform": {
                    "location": {
                        "x": 965.3900756835938,
                        "y": 3391.654296875,
                        "z": 370.1116027832031
                    },
                    "rotation": {
                        "roll": 0.00045945975580252707,
                        "pitch": -0.5714067816734314,
                        "yaw": -80.85841369628906
                    }
                },
                "velocity": {
                    "x": 1.2751494646072388,
                    "y": -7.923625946044922,
                    "z": -0.0799909308552742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068487167358398,
                "transform": {
                    "location": {
                        "x": 969.2487182617188,
                        "y": 3388.130615234375,
                        "z": 370.0793762207031
                    },
                    "rotation": {
                        "roll": -0.000915555574465543,
                        "pitch": -0.5581015348434448,
                        "yaw": -80.86026763916016
                    }
                },
                "velocity": {
                    "x": 1.28148353099823,
                    "y": -7.965671062469482,
                    "z": -0.07979531586170197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.4262084960938,
                        "y": 3347.44970703125,
                        "z": 369.5904846191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7983944416046143,
                        "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": 4830,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.0414428710938,
                        "y": 3345.3076171875,
                        "z": 369.5557861328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8325795531272888,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.081339359283447,
                "transform": {
                    "location": {
                        "x": 967.9733276367188,
                        "y": 3354.4912109375,
                        "z": 369.70452880859375
                    },
                    "rotation": {
                        "roll": -0.01040654256939888,
                        "pitch": 0.6372361183166504,
                        "yaw": 99.17459106445312
                    }
                },
                "velocity": {
                    "x": -0.9794480204582214,
                    "y": 6.000096321105957,
                    "z": 0.14904393255710602
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.438614845275879,
                "transform": {
                    "location": {
                        "x": 961.8828125,
                        "y": 3391.734375,
                        "z": 370.15576171875
                    },
                    "rotation": {
                        "roll": -0.0011902239639312029,
                        "pitch": 0.592225193977356,
                        "yaw": 99.14755249023438
                    }
                },
                "velocity": {
                    "x": -1.342634677886963,
                    "y": 8.330714225769043,
                    "z": 0.08213458955287933
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.951316833496094,
                "transform": {
                    "location": {
                        "x": 958.9405517578125,
                        "y": 3410.014404296875,
                        "z": 370.2781066894531
                    },
                    "rotation": {
                        "roll": 0.0002861801767721772,
                        "pitch": 0.3693219721317291,
                        "yaw": 99.14376831054688
                    }
                },
                "velocity": {
                    "x": -1.2634894847869873,
                    "y": 7.85006856918335,
                    "z": 0.05880410224199295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.868823528289795,
                "transform": {
                    "location": {
                        "x": 944.895751953125,
                        "y": 3476.82861328125,
                        "z": 370.64935302734375
                    },
                    "rotation": {
                        "roll": -0.000610360992141068,
                        "pitch": 0.25965645909309387,
                        "yaw": 99.15425872802734
                    }
                },
                "velocity": {
                    "x": -1.2508924007415771,
                    "y": 7.7686967849731445,
                    "z": 0.03160856291651726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.0336303710938,
                        "y": 3495.245849609375,
                        "z": 370.7255859375
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.397070407867432,
                "transform": {
                    "location": {
                        "x": 964.7810668945312,
                        "y": 3373.72607421875,
                        "z": 369.9273681640625
                    },
                    "rotation": {
                        "roll": -0.0012206686660647392,
                        "pitch": 0.5952099561691284,
                        "yaw": 99.13929748535156
                    }
                },
                "velocity": {
                    "x": -1.1748082637786865,
                    "y": 7.302682399749756,
                    "z": 0.08548396825790405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.013339042663574,
                "transform": {
                    "location": {
                        "x": 956.059326171875,
                        "y": 3427.9228515625,
                        "z": 370.3974914550781
                    },
                    "rotation": {
                        "roll": 0.000794746505562216,
                        "pitch": 0.37119343876838684,
                        "yaw": 99.1567611694336
                    }
                },
                "velocity": {
                    "x": -1.273187279701233,
                    "y": 7.911374568939209,
                    "z": 0.05240725353360176
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046460151672363,
                "transform": {
                    "location": {
                        "x": 953.086669921875,
                        "y": 3446.390625,
                        "z": 370.5127258300781
                    },
                    "rotation": {
                        "roll": 0.0003281068638898432,
                        "pitch": 0.29394400119781494,
                        "yaw": 99.1286849975586
                    }
                },
                "velocity": {
                    "x": -1.2789829969406128,
                    "y": 7.9440507888793945,
                    "z": 0.04207374528050423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164978504180908,
                "transform": {
                    "location": {
                        "x": 949.3407592773438,
                        "y": 3444.217529296875,
                        "z": 370.48834228515625
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.006085698027163744,
                        "yaw": 99.14290618896484
                    }
                },
                "velocity": {
                    "x": -0.5026422142982483,
                    "y": 3.124762773513794,
                    "z": 0.017245130613446236
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1628775596618652,
                "transform": {
                    "location": {
                        "x": 950.8390502929688,
                        "y": 3434.905029296875,
                        "z": 370.4383239746094
                    },
                    "rotation": {
                        "roll": -0.0015868926420807838,
                        "pitch": 0.5544679164886475,
                        "yaw": 99.13880920410156
                    }
                },
                "velocity": {
                    "x": -0.5025137066841125,
                    "y": 3.122633934020996,
                    "z": 0.02079346589744091
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.24708515405654907,
        "expert_target_speed": 0,
        "target_point": [
            20.498628523550543,
            -0.06591924700493834
        ],
        "target_point_next": [
            71.48570772137566,
            -1.2219235187699304
        ]
    },
    "390": {
        "acceleration": [
            1.3089275360107422,
            -7.241001129150391,
            -0.07415182888507843
        ],
        "angular_velocity": [
            -1.5045748949050903,
            -0.3512718081474304,
            0.44946837425231934
        ],
        "forward_vector": [
            -0.18439722061157227,
            0.9828476309776306,
            0.0028581577353179455
        ],
        "right_vector": [
            -0.9828513264656067,
            -0.18439936637878418,
            0.000496411113999784
        ],
        "location": [
            953.77734375,
            3424.497802734375,
            370.3785400390625
        ],
        "rotation": [
            -0.028442377224564552,
            0.16376060247421265,
            100.62603759765625
        ],
        "velocity": [
            -1.2314248085021973,
            6.515533924102783,
            0.04404433071613312
        ],
        "speed": 6.630881493069295,
        "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": 11.599647521972656,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                950.7134399414062,
                3435.685302734375,
                370.4429626464844
            ],
            "velocity": [
                -0.5022844672203064,
                3.1223702430725098,
                0.01783771440386772
            ],
            "speed_kmh": 11.385226274052812,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.372570991516113,
                "transform": {
                    "location": {
                        "x": 952.069580078125,
                        "y": 3474.260009765625,
                        "z": 370.63421630859375
                    },
                    "rotation": {
                        "roll": -0.001495369360782206,
                        "pitch": -0.2254030555486679,
                        "yaw": -80.50543975830078
                    }
                },
                "velocity": {
                    "x": 1.3717759847640991,
                    "y": -8.259363174438477,
                    "z": -0.03331181779503822
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.588748931884766,
                "transform": {
                    "location": {
                        "x": 955.8273315429688,
                        "y": 3471.404541015625,
                        "z": 370.6302185058594
                    },
                    "rotation": {
                        "roll": -0.002075184602290392,
                        "pitch": -0.38878801465034485,
                        "yaw": -80.62107849121094
                    }
                },
                "velocity": {
                    "x": 1.3932480812072754,
                    "y": -8.4749174118042,
                    "z": -0.03510918468236923
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031030654907227,
                "transform": {
                    "location": {
                        "x": 958.7249755859375,
                        "y": 3433.071533203125,
                        "z": 370.427734375
                    },
                    "rotation": {
                        "roll": 0.0009906652849167585,
                        "pitch": -0.3735293745994568,
                        "yaw": -80.85774993896484
                    }
                },
                "velocity": {
                    "x": 1.2770856618881226,
                    "y": -7.928666114807129,
                    "z": -0.05246780440211296
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052042961120605,
                "transform": {
                    "location": {
                        "x": 962.8184814453125,
                        "y": 3428.088134765625,
                        "z": 370.3949279785156
                    },
                    "rotation": {
                        "roll": 0.0015765393618494272,
                        "pitch": -0.37115246057510376,
                        "yaw": -80.84146881103516
                    }
                },
                "velocity": {
                    "x": 1.2790793180465698,
                    "y": -7.949624538421631,
                    "z": -0.053193625062704086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039789199829102,
                "transform": {
                    "location": {
                        "x": 965.7091064453125,
                        "y": 3389.671875,
                        "z": 370.09185791015625
                    },
                    "rotation": {
                        "roll": -0.0006103181513026357,
                        "pitch": -0.5693098902702332,
                        "yaw": -80.85813903808594
                    }
                },
                "velocity": {
                    "x": 1.2772384881973267,
                    "y": -7.937285423278809,
                    "z": -0.07980787009000778
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00961971282959,
                "transform": {
                    "location": {
                        "x": 969.56787109375,
                        "y": 3386.146728515625,
                        "z": 370.05877685546875
                    },
                    "rotation": {
                        "roll": -6.104804924689233e-05,
                        "pitch": -0.5901829600334167,
                        "yaw": -80.86044311523438
                    }
                },
                "velocity": {
                    "x": 1.272167682647705,
                    "y": -7.907488822937012,
                    "z": -0.0850159227848053
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4831,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.7393798828125,
                        "y": 3345.389892578125,
                        "z": 369.56365966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8325795531272888,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.669189453125,
                        "y": 3356.326416015625,
                        "z": 369.74542236328125
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.209911346435547,
                "transform": {
                    "location": {
                        "x": 961.544189453125,
                        "y": 3393.83740234375,
                        "z": 370.17681884765625
                    },
                    "rotation": {
                        "roll": 0.00039803702384233475,
                        "pitch": 0.5513738393783569,
                        "yaw": 99.13887786865234
                    }
                },
                "velocity": {
                    "x": -1.3044899702072144,
                    "y": 8.105253219604492,
                    "z": 0.07632358372211456
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.955036163330078,
                "transform": {
                    "location": {
                        "x": 958.6295776367188,
                        "y": 3411.9462890625,
                        "z": 370.2925720214844
                    },
                    "rotation": {
                        "roll": 0.0005885986029170454,
                        "pitch": 0.4096337556838989,
                        "yaw": 99.14382934570312
                    }
                },
                "velocity": {
                    "x": -1.264074444770813,
                    "y": 7.853750228881836,
                    "z": 0.05760751664638519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.275825500488281,
                "transform": {
                    "location": {
                        "x": 944.571533203125,
                        "y": 3478.842529296875,
                        "z": 370.65777587890625
                    },
                    "rotation": {
                        "roll": 0.00015223985246848315,
                        "pitch": 0.2405114322900772,
                        "yaw": 99.14576721191406
                    }
                },
                "velocity": {
                    "x": -1.3145545721054077,
                    "y": 8.170686721801758,
                    "z": 0.03342868760228157
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.7384033203125,
                        "y": 3497.080322265625,
                        "z": 370.7318420410156
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.16552734375,
                "transform": {
                    "location": {
                        "x": 964.47412109375,
                        "y": 3375.63427734375,
                        "z": 369.9495544433594
                    },
                    "rotation": {
                        "roll": -0.00027469691121950746,
                        "pitch": 0.7240409851074219,
                        "yaw": 99.14253234863281
                    }
                },
                "velocity": {
                    "x": -1.2971913814544678,
                    "y": 8.061305046081543,
                    "z": 0.09214029461145401
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026510238647461,
                "transform": {
                    "location": {
                        "x": 955.7406616210938,
                        "y": 3429.9013671875,
                        "z": 370.41033935546875
                    },
                    "rotation": {
                        "roll": 0.0002974931849166751,
                        "pitch": 0.3769034743309021,
                        "yaw": 99.13346099853516
                    }
                },
                "velocity": {
                    "x": -1.2761015892028809,
                    "y": 7.924244403839111,
                    "z": 0.05280323699116707
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047613143920898,
                "transform": {
                    "location": {
                        "x": 952.766845703125,
                        "y": 3448.376708984375,
                        "z": 370.52301025390625
                    },
                    "rotation": {
                        "roll": 0.0006527986843138933,
                        "pitch": 0.2959315776824951,
                        "yaw": 99.16416931152344
                    }
                },
                "velocity": {
                    "x": -1.278935194015503,
                    "y": 7.94523286819458,
                    "z": 0.04108583182096481
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651508808135986,
                "transform": {
                    "location": {
                        "x": 949.2150268554688,
                        "y": 3444.998779296875,
                        "z": 370.4925842285156
                    },
                    "rotation": {
                        "roll": 0.00018753086624201387,
                        "pitch": -0.012608528137207031,
                        "yaw": 99.14373779296875
                    }
                },
                "velocity": {
                    "x": -0.5031015872955322,
                    "y": 3.1248648166656494,
                    "z": 0.01703348197042942
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162562847137451,
                "transform": {
                    "location": {
                        "x": 950.7134399414062,
                        "y": 3435.685302734375,
                        "z": 370.4429626464844
                    },
                    "rotation": {
                        "roll": -0.00018311617895960808,
                        "pitch": 0.5495160222053528,
                        "yaw": 99.13861083984375
                    }
                },
                "velocity": {
                    "x": -0.5022844672203064,
                    "y": 3.1223702430725098,
                    "z": 0.01783771440386772
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.4222157299518585,
        "expert_target_speed": 0,
        "target_point": [
            18.733721872312042,
            -0.13177190903843172
        ],
        "target_point_next": [
            69.71680769795174,
            -1.4522077072077888
        ]
    },
    "395": {
        "acceleration": [
            0.9149813652038574,
            -4.919624328613281,
            -0.03818020224571228
        ],
        "angular_velocity": [
            -0.20665499567985535,
            -0.1089901477098465,
            0.298013836145401
        ],
        "forward_vector": [
            -0.18594293296337128,
            0.9825561046600342,
            -0.0029475644696503878
        ],
        "right_vector": [
            -0.9825605154037476,
            -0.18594324588775635,
            0.0001715067628538236
        ],
        "location": [
            953.5159301757812,
            3425.8779296875,
            370.3890686035156
        ],
        "rotation": [
            -0.009826656430959702,
            -0.16888324916362762,
            100.7161636352539
        ],
        "velocity": [
            -0.9330688118934631,
            4.897486686706543,
            0.03217305988073349
        ],
        "speed": 4.985578527532799,
        "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": 10.985220909118652,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                950.587890625,
                3436.465576171875,
                370.4474182128906
            ],
            "velocity": [
                -0.5020002126693726,
                3.122288703918457,
                0.01757178269326687
            ],
            "speed_kmh": 11.3847686196349,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.876140117645264,
                "transform": {
                    "location": {
                        "x": 952.399658203125,
                        "y": 3472.265869140625,
                        "z": 370.6260986328125
                    },
                    "rotation": {
                        "roll": -0.00036621885374188423,
                        "pitch": -0.245087668299675,
                        "yaw": -80.63737487792969
                    }
                },
                "velocity": {
                    "x": 1.275771141052246,
                    "y": -7.772056579589844,
                    "z": -0.033597495406866074
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.28061294555664,
                "transform": {
                    "location": {
                        "x": 956.17333984375,
                        "y": 3469.29736328125,
                        "z": 370.62017822265625
                    },
                    "rotation": {
                        "roll": -0.005249046254903078,
                        "pitch": -0.24081195890903473,
                        "yaw": -80.68309783935547
                    }
                },
                "velocity": {
                    "x": 1.3305518627166748,
                    "y": -8.172938346862793,
                    "z": -0.03551602363586426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0387544631958,
                "transform": {
                    "location": {
                        "x": 959.0442504882812,
                        "y": 3431.087646484375,
                        "z": 370.4146728515625
                    },
                    "rotation": {
                        "roll": 0.0013031265698373318,
                        "pitch": -0.37487491965293884,
                        "yaw": -80.85601043701172
                    }
                },
                "velocity": {
                    "x": 1.2775256633758545,
                    "y": -7.936417579650879,
                    "z": -0.05272768437862396
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053508758544922,
                "transform": {
                    "location": {
                        "x": 963.13818359375,
                        "y": 3426.100341796875,
                        "z": 370.3816223144531
                    },
                    "rotation": {
                        "roll": -0.00039674676372669637,
                        "pitch": -0.3826340138912201,
                        "yaw": -80.87370300292969
                    }
                },
                "velocity": {
                    "x": 1.2796587944030762,
                    "y": -7.951013565063477,
                    "z": -0.053553562611341476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025178909301758,
                "transform": {
                    "location": {
                        "x": 966.0281982421875,
                        "y": 3387.689208984375,
                        "z": 370.0721740722656
                    },
                    "rotation": {
                        "roll": -0.0011901657562702894,
                        "pitch": -0.5687224864959717,
                        "yaw": -80.85572814941406
                    }
                },
                "velocity": {
                    "x": 1.276320219039917,
                    "y": -7.922640800476074,
                    "z": -0.0791313648223877
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.069250106811523,
                "transform": {
                    "location": {
                        "x": 969.8870849609375,
                        "y": 3384.162841796875,
                        "z": 370.03759765625
                    },
                    "rotation": {
                        "roll": -0.0001220970880240202,
                        "pitch": -0.6333634257316589,
                        "yaw": -80.86030578613281
                    }
                },
                "velocity": {
                    "x": 1.2816128730773926,
                    "y": -7.96632719039917,
                    "z": -0.08888716250658035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.4884033203125,
                        "y": 3357.419677734375,
                        "z": 369.762451171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.495127201080322,
                "transform": {
                    "location": {
                        "x": 961.2366943359375,
                        "y": 3395.747802734375,
                        "z": 370.19488525390625
                    },
                    "rotation": {
                        "roll": -0.001098666456528008,
                        "pitch": 0.44605913758277893,
                        "yaw": 99.14946746826172
                    }
                },
                "velocity": {
                    "x": -1.1914193630218506,
                    "y": 7.399514198303223,
                    "z": 0.06812116503715515
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.437925338745117,
                "transform": {
                    "location": {
                        "x": 958.2979736328125,
                        "y": 3414.006103515625,
                        "z": 370.3074951171875
                    },
                    "rotation": {
                        "roll": -0.001281720120459795,
                        "pitch": 0.4846360385417938,
                        "yaw": 99.14359283447266
                    }
                },
                "velocity": {
                    "x": -1.3406765460968018,
                    "y": 8.330516815185547,
                    "z": 0.06046426668763161
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07112979888916,
                "transform": {
                    "location": {
                        "x": 944.2467041015625,
                        "y": 3480.860595703125,
                        "z": 370.666015625
                    },
                    "rotation": {
                        "roll": 0.00015364041610155255,
                        "pitch": 0.22525963187217712,
                        "yaw": 99.14141845703125
                    }
                },
                "velocity": {
                    "x": -1.281596064567566,
                    "y": 7.968661308288574,
                    "z": 0.03294970467686653
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.4879760742188,
                        "y": 3498.635498046875,
                        "z": 370.7370300292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.735169410705566,
                "transform": {
                    "location": {
                        "x": 964.1310424804688,
                        "y": 3377.764892578125,
                        "z": 369.9737854003906
                    },
                    "rotation": {
                        "roll": -3.049812039535027e-05,
                        "pitch": 0.7176411151885986,
                        "yaw": 99.14791870117188
                    }
                },
                "velocity": {
                    "x": -1.3884735107421875,
                    "y": 8.623580932617188,
                    "z": 0.09584127366542816
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028291702270508,
                "transform": {
                    "location": {
                        "x": 955.4215698242188,
                        "y": 3431.8837890625,
                        "z": 370.4232482910156
                    },
                    "rotation": {
                        "roll": 0.0010728167835623026,
                        "pitch": 0.37923941016197205,
                        "yaw": 99.1612548828125
                    }
                },
                "velocity": {
                    "x": -1.2762947082519531,
                    "y": 7.926015377044678,
                    "z": 0.0531265065073967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045710563659668,
                "transform": {
                    "location": {
                        "x": 952.4471435546875,
                        "y": 3450.363037109375,
                        "z": 370.53326416015625
                    },
                    "rotation": {
                        "roll": -0.0008850282756611705,
                        "pitch": 0.2965463101863861,
                        "yaw": 99.13201141357422
                    }
                },
                "velocity": {
                    "x": -1.2792996168136597,
                    "y": 7.943243980407715,
                    "z": 0.04156240448355675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650261878967285,
                "transform": {
                    "location": {
                        "x": 949.0892944335938,
                        "y": 3445.780029296875,
                        "z": 370.49664306640625
                    },
                    "rotation": {
                        "roll": 0.0006535195279866457,
                        "pitch": -0.009767170064151287,
                        "yaw": 99.14323425292969
                    }
                },
                "velocity": {
                    "x": -0.5028194785118103,
                    "y": 3.1247830390930176,
                    "z": 0.017166996374726295
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.16243577003479,
                "transform": {
                    "location": {
                        "x": 950.587890625,
                        "y": 3436.465576171875,
                        "z": 370.4474182128906
                    },
                    "rotation": {
                        "roll": -0.00045777714694850147,
                        "pitch": 0.5499258041381836,
                        "yaw": 99.13694763183594
                    }
                },
                "velocity": {
                    "x": -0.5020002126693726,
                    "y": 3.122288703918457,
                    "z": 0.01757178269326687
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0011100769042969,
        "expert_target_speed": 0,
        "target_point": [
            17.328825182697543,
            -0.1614614819745488
        ],
        "target_point_next": [
            68.30977143694821,
            -1.5620720712662042
        ]
    },
    "400": {
        "acceleration": [
            0.6223249435424805,
            -2.895016670227051,
            -0.023749172687530518
        ],
        "angular_velocity": [
            0.6385513544082642,
            0.0297786183655262,
            -0.15388493239879608
        ],
        "forward_vector": [
            -0.18640422821044922,
            0.9824678301811218,
            -0.003238910576328635
        ],
        "right_vector": [
            -0.9824728965759277,
            -0.18640565872192383,
            -0.00014201922749634832
        ],
        "location": [
            953.3175659179688,
            3426.921142578125,
            370.39569091796875
        ],
        "rotation": [
            0.008137145079672337,
            -0.18557623028755188,
            100.74307250976562
        ],
        "velocity": [
            -0.6961395144462585,
            3.68272066116333,
            0.02441141940653324
        ],
        "speed": 3.747938325497466,
        "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": 10.712411880493164,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                950.4622192382812,
                3437.245849609375,
                370.4519958496094
            ],
            "velocity": [
                -0.5027548670768738,
                3.1223678588867188,
                0.017927465960383415
            ],
            "speed_kmh": 11.385488705370467,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.13106632232666,
                "transform": {
                    "location": {
                        "x": 952.7218017578125,
                        "y": 3470.30126953125,
                        "z": 370.6176452636719
                    },
                    "rotation": {
                        "roll": 6.464721082011238e-05,
                        "pitch": -0.2343096286058426,
                        "yaw": -80.7093734741211
                    }
                },
                "velocity": {
                    "x": 1.311368703842163,
                    "y": -8.024551391601562,
                    "z": -0.03355324640870094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.802003383636475,
                "transform": {
                    "location": {
                        "x": 956.4938354492188,
                        "y": 3467.329345703125,
                        "z": 370.6115417480469
                    },
                    "rotation": {
                        "roll": -0.002166750142350793,
                        "pitch": -0.19711241126060486,
                        "yaw": -80.74723815917969
                    }
                },
                "velocity": {
                    "x": 1.2512718439102173,
                    "y": -7.70094108581543,
                    "z": -0.03289785236120224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01998519897461,
                "transform": {
                    "location": {
                        "x": 959.3631591796875,
                        "y": 3429.106689453125,
                        "z": 370.40167236328125
                    },
                    "rotation": {
                        "roll": 0.0005745086236856878,
                        "pitch": -0.375701367855072,
                        "yaw": -80.85594940185547
                    }
                },
                "velocity": {
                    "x": 1.2743769884109497,
                    "y": -7.91791296005249,
                    "z": -0.05279936641454697
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053445816040039,
                "transform": {
                    "location": {
                        "x": 963.4581298828125,
                        "y": 3424.1123046875,
                        "z": 370.3681945800781
                    },
                    "rotation": {
                        "roll": -0.0010681356070563197,
                        "pitch": -0.3907414376735687,
                        "yaw": -80.84143829345703
                    }
                },
                "velocity": {
                    "x": 1.2792710065841675,
                    "y": -7.951013565063477,
                    "z": -0.05335294082760811
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.041533470153809,
                "transform": {
                    "location": {
                        "x": 966.3472290039062,
                        "y": 3385.70703125,
                        "z": 370.0517883300781
                    },
                    "rotation": {
                        "roll": -0.00015254036406986415,
                        "pitch": -0.600523829460144,
                        "yaw": -80.85758209228516
                    }
                },
                "velocity": {
                    "x": 1.2776379585266113,
                    "y": -7.93894624710083,
                    "z": -0.08390246331691742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009493827819824,
                "transform": {
                    "location": {
                        "x": 970.2064819335938,
                        "y": 3382.178955078125,
                        "z": 370.0154113769531
                    },
                    "rotation": {
                        "roll": -9.157270687865093e-05,
                        "pitch": -0.6274347901344299,
                        "yaw": -80.8556137084961
                    }
                },
                "velocity": {
                    "x": 1.2728660106658936,
                    "y": -7.907216548919678,
                    "z": -0.08787380158901215
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.03488729149103165,
                "transform": {
                    "location": {
                        "x": 967.3359985351562,
                        "y": 3358.388427734375,
                        "z": 369.7738952636719
                    },
                    "rotation": {
                        "roll": 0.0056777228601276875,
                        "pitch": 0.5500624179840088,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 0.000207111457712017,
                    "y": -0.0007237360696308315,
                    "z": 0.034879170358181
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.123886108398438,
                "transform": {
                    "location": {
                        "x": 960.9296875,
                        "y": 3397.654541015625,
                        "z": 370.2110900878906
                    },
                    "rotation": {
                        "roll": 0.0015834689838811755,
                        "pitch": 0.5224547982215881,
                        "yaw": 99.1434555053711
                    }
                },
                "velocity": {
                    "x": -1.291469693183899,
                    "y": 8.020282745361328,
                    "z": 0.06857559084892273
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.994495868682861,
                "transform": {
                    "location": {
                        "x": 957.9758911132812,
                        "y": 3416.008056640625,
                        "z": 370.3217468261719
                    },
                    "rotation": {
                        "roll": 0.0005223452462814748,
                        "pitch": 0.34008875489234924,
                        "yaw": 99.14068603515625
                    }
                },
                "velocity": {
                    "x": -1.2699459791183472,
                    "y": 7.892794609069824,
                    "z": 0.05469555780291557
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.028621673583984,
                "transform": {
                    "location": {
                        "x": 943.927734375,
                        "y": 3482.84375,
                        "z": 370.67401123046875
                    },
                    "rotation": {
                        "roll": -0.0009460484725423157,
                        "pitch": 0.2256079614162445,
                        "yaw": 99.136474609375
                    }
                },
                "velocity": {
                    "x": -1.2747076749801636,
                    "y": 7.9267144203186035,
                    "z": 0.032961681485176086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.296875,
                        "y": 3499.822509765625,
                        "z": 370.7408142089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.638019561767578,
                "transform": {
                    "location": {
                        "x": 963.8056640625,
                        "y": 3379.786376953125,
                        "z": 369.9958190917969
                    },
                    "rotation": {
                        "roll": -3.0550345400115475e-05,
                        "pitch": 0.5208360552787781,
                        "yaw": 99.13898468017578
                    }
                },
                "velocity": {
                    "x": -1.2133147716522217,
                    "y": 7.5405707359313965,
                    "z": 0.08367812633514404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020044326782227,
                "transform": {
                    "location": {
                        "x": 955.1026611328125,
                        "y": 3433.86376953125,
                        "z": 370.4361572265625
                    },
                    "rotation": {
                        "roll": -0.00039674644358456135,
                        "pitch": 0.37531203031539917,
                        "yaw": 99.1348876953125
                    }
                },
                "velocity": {
                    "x": -1.2750943899154663,
                    "y": 7.917863368988037,
                    "z": 0.051779747009277344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046161651611328,
                "transform": {
                    "location": {
                        "x": 952.1273803710938,
                        "y": 3452.349365234375,
                        "z": 370.5436096191406
                    },
                    "rotation": {
                        "roll": -0.00015258739585988224,
                        "pitch": 0.2967580556869507,
                        "yaw": 99.16116333007812
                    }
                },
                "velocity": {
                    "x": -1.2786540985107422,
                    "y": 7.9438066482543945,
                    "z": 0.04116835445165634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164931535720825,
                "transform": {
                    "location": {
                        "x": 948.9635620117188,
                        "y": 3446.561279296875,
                        "z": 370.5007019042969
                    },
                    "rotation": {
                        "roll": 0.0006919839070178568,
                        "pitch": -0.00900218915194273,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -0.5027563571929932,
                    "y": 3.1246979236602783,
                    "z": 0.017051124945282936
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626358032226562,
                "transform": {
                    "location": {
                        "x": 950.4622192382812,
                        "y": 3437.245849609375,
                        "z": 370.4519958496094
                    },
                    "rotation": {
                        "roll": 0.0005724015645682812,
                        "pitch": 0.5504859089851379,
                        "yaw": 99.13975524902344
                    }
                },
                "velocity": {
                    "x": -0.5027548670768738,
                    "y": 3.1223678588867188,
                    "z": 0.017927465960383415
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.000733733177185,
        "expert_target_speed": 4.901505753362357,
        "target_point": [
            16.266842736419566,
            -0.17003958361463978
        ],
        "target_point_next": [
            67.24712450324374,
            -1.5946314468667762
        ]
    },
    "405": {
        "acceleration": [
            -0.43935537338256836,
            2.4684667587280273,
            0.014236606657505035
        ],
        "angular_velocity": [
            1.773174524307251,
            0.3496127724647522,
            -0.30471011996269226
        ],
        "forward_vector": [
            -0.18525119125843048,
            0.9826858639717102,
            0.003231400391086936
        ],
        "right_vector": [
            -0.9826911091804504,
            -0.1852511167526245,
            -0.0003226528351660818
        ],
        "location": [
            953.1434936523438,
            3427.848876953125,
            370.4005126953125
        ],
        "rotation": [
            0.018486741930246353,
            0.18514592945575714,
            100.67583465576172
        ],
        "velocity": [
            -0.7282627820968628,
            3.904057741165161,
            0.02602972835302353
        ],
        "speed": 3.9714019597793273,
        "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": 10.557354927062988,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                950.336669921875,
                3438.026123046875,
                370.45654296875
            ],
            "velocity": [
                -0.5019132494926453,
                3.1224937438964844,
                0.01747017912566662
            ],
            "speed_kmh": 11.385445678589193,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.2669067382812,
                        "y": 3505.44921875,
                        "z": 370.8874206542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.17403320968151093,
                        "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": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09425163269043,
                "transform": {
                    "location": {
                        "x": 953.0503540039062,
                        "y": 3468.287841796875,
                        "z": 370.6092529296875
                    },
                    "rotation": {
                        "roll": -0.0003051733074244112,
                        "pitch": -0.23687778413295746,
                        "yaw": -80.74992370605469
                    }
                },
                "velocity": {
                    "x": 1.2978055477142334,
                    "y": -7.9894633293151855,
                    "z": -0.032934095710515976
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.118937492370605,
                "transform": {
                    "location": {
                        "x": 956.8126831054688,
                        "y": 3465.367431640625,
                        "z": 370.60357666015625
                    },
                    "rotation": {
                        "roll": -0.0018920879811048508,
                        "pitch": -0.2569858431816101,
                        "yaw": -80.76518249511719
                    }
                },
                "velocity": {
                    "x": 1.3027384281158447,
                    "y": -8.013666152954102,
                    "z": -0.03438405320048332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04272747039795,
                "transform": {
                    "location": {
                        "x": 959.6821899414062,
                        "y": 3427.1240234375,
                        "z": 370.388671875
                    },
                    "rotation": {
                        "roll": 0.0008268171222880483,
                        "pitch": -0.3718286454677582,
                        "yaw": -80.85966491699219
                    }
                },
                "velocity": {
                    "x": 1.2775237560272217,
                    "y": -7.940439224243164,
                    "z": -0.053230393677949905
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053606986999512,
                "transform": {
                    "location": {
                        "x": 963.7779541015625,
                        "y": 3422.125244140625,
                        "z": 370.35455322265625
                    },
                    "rotation": {
                        "roll": -0.0003662106755655259,
                        "pitch": -0.38992181420326233,
                        "yaw": -80.87052917480469
                    }
                },
                "velocity": {
                    "x": 1.2800931930541992,
                    "y": -7.951043605804443,
                    "z": -0.05339517071843147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025301933288574,
                "transform": {
                    "location": {
                        "x": 966.6661987304688,
                        "y": 3383.725341796875,
                        "z": 370.0306701660156
                    },
                    "rotation": {
                        "roll": -0.00012209733540657908,
                        "pitch": -0.6439775228500366,
                        "yaw": -80.85757446289062
                    }
                },
                "velocity": {
                    "x": 1.2750813961029053,
                    "y": -7.922874450683594,
                    "z": -0.08770596981048584
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.07004451751709,
                "transform": {
                    "location": {
                        "x": 970.5260009765625,
                        "y": 3380.1943359375,
                        "z": 369.9933166503906
                    },
                    "rotation": {
                        "roll": -0.0009155402658507228,
                        "pitch": -0.626915693283081,
                        "yaw": -80.85346984863281
                    }
                },
                "velocity": {
                    "x": 1.280963659286499,
                    "y": -7.9672417640686035,
                    "z": -0.08837518841028214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.04355727508664131,
                "transform": {
                    "location": {
                        "x": 967.2088012695312,
                        "y": 3359.212158203125,
                        "z": 369.7813720703125
                    },
                    "rotation": {
                        "roll": 0.0007841690094210207,
                        "pitch": 0.6968363523483276,
                        "yaw": 99.14256286621094
                    }
                },
                "velocity": {
                    "x": 0.00026509928284212947,
                    "y": -0.0005331346765160561,
                    "z": 0.04355320706963539
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.863237380981445,
                "transform": {
                    "location": {
                        "x": 960.5853881835938,
                        "y": 3399.793701171875,
                        "z": 370.2291259765625
                    },
                    "rotation": {
                        "roll": 0.0005250162212178111,
                        "pitch": 0.5644741058349609,
                        "yaw": 99.14578247070312
                    }
                },
                "velocity": {
                    "x": -1.4081825017929077,
                    "y": 8.750327110290527,
                    "z": 0.07603887468576431
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.267123222351074,
                "transform": {
                    "location": {
                        "x": 957.649169921875,
                        "y": 3418.03857421875,
                        "z": 370.3355712890625
                    },
                    "rotation": {
                        "roll": -0.0003967486845795065,
                        "pitch": 0.42207151651382446,
                        "yaw": 99.1407699584961
                    }
                },
                "velocity": {
                    "x": -1.313284158706665,
                    "y": 8.161951065063477,
                    "z": 0.056238505989313126
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.180468559265137,
                "transform": {
                    "location": {
                        "x": 943.622314453125,
                        "y": 3484.7421875,
                        "z": 370.68182373046875
                    },
                    "rotation": {
                        "roll": -0.00021361828839872032,
                        "pitch": 0.21173585951328278,
                        "yaw": 99.13750457763672
                    }
                },
                "velocity": {
                    "x": -1.1403253078460693,
                    "y": 7.08928918838501,
                    "z": 0.027679098770022392
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.1431884765625,
                        "y": 3500.77734375,
                        "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.406268119812012,
                "transform": {
                    "location": {
                        "x": 963.5122680664062,
                        "y": 3381.6103515625,
                        "z": 370.01617431640625
                    },
                    "rotation": {
                        "roll": -0.0003662073868326843,
                        "pitch": 0.5768640637397766,
                        "yaw": 99.13996887207031
                    }
                },
                "velocity": {
                    "x": -1.1764789819717407,
                    "y": 7.3117828369140625,
                    "z": 0.08086948096752167
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028396606445312,
                "transform": {
                    "location": {
                        "x": 954.7838745117188,
                        "y": 3435.843994140625,
                        "z": 370.4485168457031
                    },
                    "rotation": {
                        "roll": 6.831652717664838e-05,
                        "pitch": 0.35277241468429565,
                        "yaw": 99.15986633300781
                    }
                },
                "velocity": {
                    "x": -1.2759020328521729,
                    "y": 7.926209926605225,
                    "z": 0.04916282370686531
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04664421081543,
                "transform": {
                    "location": {
                        "x": 951.807861328125,
                        "y": 3454.33544921875,
                        "z": 370.553466796875
                    },
                    "rotation": {
                        "roll": 0.0010304634924978018,
                        "pitch": 0.27685487270355225,
                        "yaw": 99.12644958496094
                    }
                },
                "velocity": {
                    "x": -1.2774771451950073,
                    "y": 7.944493770599365,
                    "z": 0.03948867693543434
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165092945098877,
                "transform": {
                    "location": {
                        "x": 948.837890625,
                        "y": 3447.342529296875,
                        "z": 370.5047607421875
                    },
                    "rotation": {
                        "roll": 0.002390999114140868,
                        "pitch": -0.009398339316248894,
                        "yaw": 99.14287567138672
                    }
                },
                "velocity": {
                    "x": -0.5031213164329529,
                    "y": 3.124805450439453,
                    "z": 0.016514215618371964
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162623882293701,
                "transform": {
                    "location": {
                        "x": 950.336669921875,
                        "y": 3438.026123046875,
                        "z": 370.45654296875
                    },
                    "rotation": {
                        "roll": 0.00107953988481313,
                        "pitch": 0.5511484146118164,
                        "yaw": 99.13703155517578
                    }
                },
                "velocity": {
                    "x": -0.5019132494926453,
                    "y": 3.1224937438964844,
                    "z": 0.01747017912566662
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9990285634994507,
        "expert_target_speed": 5.115535647088222,
        "target_point": [
            15.323107647942583,
            -0.15013705177540126
        ],
        "target_point_next": [
            66.3050267160506,
            -1.5148784684965353
        ]
    },
    "410": {
        "acceleration": [
            -0.5161607265472412,
            2.944793701171875,
            0.019716806709766388
        ],
        "angular_velocity": [
            0.8525524735450745,
            0.2020263373851776,
            -0.35574325919151306
        ],
        "forward_vector": [
            -0.1838233470916748,
            0.9829169511795044,
            0.009120576083660126
        ],
        "right_vector": [
            -0.9829583764076233,
            -0.18382778763771057,
            -0.0003550587862264365
        ],
        "location": [
            952.9439086914062,
            3428.922119140625,
            370.4062805175781
        ],
        "rotation": [
            0.020344216376543045,
            0.5225777626037598,
            100.59298706054688
        ],
        "velocity": [
            -0.8573082685470581,
            4.632296562194824,
            0.02996426448225975
        ],
        "speed": 4.710960507947519,
        "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": 10.255011558532715,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                950.2111206054688,
                3438.80615234375,
                370.46112060546875
            ],
            "velocity": [
                -0.5017040967941284,
                3.1225216388702393,
                0.018073787912726402
            ],
            "speed_kmh": 11.385437568183352,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.5494995117188,
                        "y": 3508.09521484375,
                        "z": 370.9891052246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.17403320968151093,
                        "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": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.5966186523438,
                        "y": 3503.400634765625,
                        "z": 370.7840881347656
                    },
                    "rotation": {
                        "roll": 2.6680568865344867e-08,
                        "pitch": -0.1865256279706955,
                        "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": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.017168045043945,
                "transform": {
                    "location": {
                        "x": 953.371826171875,
                        "y": 3466.306884765625,
                        "z": 370.6009216308594
                    },
                    "rotation": {
                        "roll": -6.103201303631067e-05,
                        "pitch": -0.24038849771022797,
                        "yaw": -80.79255676269531
                    }
                },
                "velocity": {
                    "x": 1.2816834449768066,
                    "y": -7.913985252380371,
                    "z": -0.03329705819487572
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035894393920898,
                "transform": {
                    "location": {
                        "x": 957.1368408203125,
                        "y": 3463.3671875,
                        "z": 370.59478759765625
                    },
                    "rotation": {
                        "roll": -0.0003051871317438781,
                        "pitch": -0.2582426071166992,
                        "yaw": -80.79692077636719
                    }
                },
                "velocity": {
                    "x": 1.2818963527679443,
                    "y": -7.932905197143555,
                    "z": -0.036699287593364716
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020668983459473,
                "transform": {
                    "location": {
                        "x": 960.0009765625,
                        "y": 3425.14208984375,
                        "z": 370.37542724609375
                    },
                    "rotation": {
                        "roll": 0.0003890629159286618,
                        "pitch": -0.38903388381004333,
                        "yaw": -80.863525390625
                    }
                },
                "velocity": {
                    "x": 1.2735331058502197,
                    "y": -7.918740272521973,
                    "z": -0.05285046622157097
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053733825683594,
                "transform": {
                    "location": {
                        "x": 964.0980224609375,
                        "y": 3420.137451171875,
                        "z": 370.3409423828125
                    },
                    "rotation": {
                        "roll": -0.0006713884067721665,
                        "pitch": -0.38946419954299927,
                        "yaw": -80.83378601074219
                    }
                },
                "velocity": {
                    "x": 1.2812432050704956,
                    "y": -7.950987815856934,
                    "z": -0.05318913981318474
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040807723999023,
                "transform": {
                    "location": {
                        "x": 966.9854736328125,
                        "y": 3381.74267578125,
                        "z": 370.0084228515625
                    },
                    "rotation": {
                        "roll": -0.0007324768230319023,
                        "pitch": -0.640623927116394,
                        "yaw": -80.85419464111328
                    }
                },
                "velocity": {
                    "x": 1.2779923677444458,
                    "y": -7.938109397888184,
                    "z": -0.08802393078804016
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009113311767578,
                "transform": {
                    "location": {
                        "x": 970.8453979492188,
                        "y": 3378.21044921875,
                        "z": 369.9713134765625
                    },
                    "rotation": {
                        "roll": -0.00033576649730093777,
                        "pitch": -0.6257955431938171,
                        "yaw": -80.85511016845703
                    }
                },
                "velocity": {
                    "x": 1.2727961540222168,
                    "y": -7.906843185424805,
                    "z": -0.08781552314758301
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.9493408203125,
                        "y": 3360.8583984375,
                        "z": 369.7975158691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.273823738098145,
                "transform": {
                    "location": {
                        "x": 960.2405395507812,
                        "y": 3401.9365234375,
                        "z": 370.24853515625
                    },
                    "rotation": {
                        "roll": 0.0003262055106461048,
                        "pitch": 0.4624720811843872,
                        "yaw": 99.13650512695312
                    }
                },
                "velocity": {
                    "x": -1.312990665435791,
                    "y": 8.16866683959961,
                    "z": 0.07140909135341644
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.597388744354248,
                "transform": {
                    "location": {
                        "x": 957.3349609375,
                        "y": 3419.992431640625,
                        "z": 370.3489074707031
                    },
                    "rotation": {
                        "roll": 0.00021204547374509275,
                        "pitch": 0.2947158217430115,
                        "yaw": 99.13692474365234
                    }
                },
                "velocity": {
                    "x": -1.2063392400741577,
                    "y": 7.500818729400635,
                    "z": 0.0527411550283432
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.083270072937012,
                "transform": {
                    "location": {
                        "x": 943.3694458007812,
                        "y": 3486.314697265625,
                        "z": 370.68804931640625
                    },
                    "rotation": {
                        "roll": 0.00017537125677336007,
                        "pitch": 0.17517384886741638,
                        "yaw": 99.13851928710938
                    }
                },
                "velocity": {
                    "x": -0.8073147535324097,
                    "y": 5.0187177658081055,
                    "z": 0.01872490905225277
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.9749755859375,
                        "y": 3501.822021484375,
                        "z": 370.74713134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.358284950256348,
                "transform": {
                    "location": {
                        "x": 963.199951171875,
                        "y": 3383.55029296875,
                        "z": 370.037841796875
                    },
                    "rotation": {
                        "roll": 0.0015585843939334154,
                        "pitch": 0.732448935508728,
                        "yaw": 99.14656066894531
                    }
                },
                "velocity": {
                    "x": -1.3275071382522583,
                    "y": 8.251691818237305,
                    "z": 0.09078922122716904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024084091186523,
                "transform": {
                    "location": {
                        "x": 954.4649658203125,
                        "y": 3437.824951171875,
                        "z": 370.46038818359375
                    },
                    "rotation": {
                        "roll": 0.0013118056813254952,
                        "pitch": 0.33558768033981323,
                        "yaw": 99.12954711914062
                    }
                },
                "velocity": {
                    "x": -1.2738549709320068,
                    "y": 7.922189235687256,
                    "z": 0.04626759514212608
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046590805053711,
                "transform": {
                    "location": {
                        "x": 951.48828125,
                        "y": 3456.32177734375,
                        "z": 370.5629577636719
                    },
                    "rotation": {
                        "roll": -0.0006713929469697177,
                        "pitch": 0.2560296356678009,
                        "yaw": 99.1589584350586
                    }
                },
                "velocity": {
                    "x": -1.278186559677124,
                    "y": 7.944340705871582,
                    "z": 0.03621410205960274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651225090026855,
                "transform": {
                    "location": {
                        "x": 948.7120971679688,
                        "y": 3448.123779296875,
                        "z": 370.5088195800781
                    },
                    "rotation": {
                        "roll": -0.0018920894945040345,
                        "pitch": -0.009644226171076298,
                        "yaw": 99.14298248291016
                    }
                },
                "velocity": {
                    "x": -0.5029895901679993,
                    "y": 3.1248531341552734,
                    "z": 0.01715337671339512
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.16262149810791,
                "transform": {
                    "location": {
                        "x": 950.2111206054688,
                        "y": 3438.80615234375,
                        "z": 370.46112060546875
                    },
                    "rotation": {
                        "roll": 0.0021147346124053,
                        "pitch": 0.5503492951393127,
                        "yaw": 99.13690948486328
                    }
                },
                "velocity": {
                    "x": -0.5017040967941284,
                    "y": 3.1225216388702393,
                    "z": 0.018073787912726402
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9999851584434509,
        "expert_target_speed": 5.81326605249386,
        "target_point": [
            14.231666975821788,
            -0.12686794798044643
        ],
        "target_point_next": [
            65.21550617109378,
            -1.4178876659853596
        ]
    },
    "415": {
        "acceleration": [
            -0.1065826416015625,
            1.1224365234375,
            -0.024780258536338806
        ],
        "angular_velocity": [
            -0.39238184690475464,
            -0.08367893844842911,
            0.23687927424907684
        ],
        "forward_vector": [
            -0.1811995804309845,
            0.9833918809890747,
            0.010349566116929054
        ],
        "right_vector": [
            -0.9834454655647278,
            -0.18120385706424713,
            -0.0005323290824890137
        ],
        "location": [
            952.7161254882812,
            3430.162353515625,
            370.4144592285156
        ],
        "rotation": [
            0.030501842498779297,
            0.5929970145225525,
            100.4402084350586
        ],
        "velocity": [
            -0.9287248849868774,
            5.117586135864258,
            0.03384607285261154
        ],
        "speed": 5.201174652901396,
        "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": 9.784440040588379,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                950.0856323242188,
                3439.58642578125,
                370.4656982421875
            ],
            "velocity": [
                -0.5022516846656799,
                3.122441291809082,
                0.018072204664349556
            ],
            "speed_kmh": 11.385464848763272,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8800048828125,
                        "y": 3506.041748046875,
                        "z": 370.8609924316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.17403320968151093,
                        "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": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.9275512695312,
                        "y": 3501.34326171875,
                        "z": 370.7561340332031
                    },
                    "rotation": {
                        "roll": 2.6680568865344867e-08,
                        "pitch": -0.1865256279706955,
                        "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": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.094066619873047,
                "transform": {
                    "location": {
                        "x": 953.6939697265625,
                        "y": 3464.3173828125,
                        "z": 370.59228515625
                    },
                    "rotation": {
                        "roll": -0.0003356828819960356,
                        "pitch": -0.24636490643024445,
                        "yaw": -80.80939483642578
                    }
                },
                "velocity": {
                    "x": 1.291614294052124,
                    "y": -7.990270614624023,
                    "z": -0.0349174402654171
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028419494628906,
                "transform": {
                    "location": {
                        "x": 957.456787109375,
                        "y": 3461.389404296875,
                        "z": 370.585693359375
                    },
                    "rotation": {
                        "roll": 0.00021540650050155818,
                        "pitch": -0.25198614597320557,
                        "yaw": -80.8118667602539
                    }
                },
                "velocity": {
                    "x": 1.2795084714889526,
                    "y": -7.925715923309326,
                    "z": -0.0373806469142437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039592742919922,
                "transform": {
                    "location": {
                        "x": 960.3197631835938,
                        "y": 3423.159912109375,
                        "z": 370.3619689941406
                    },
                    "rotation": {
                        "roll": 0.000270906079094857,
                        "pitch": -0.3937057554721832,
                        "yaw": -80.86347961425781
                    }
                },
                "velocity": {
                    "x": 1.276551604270935,
                    "y": -7.937418460845947,
                    "z": -0.05340904742479324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05443000793457,
                "transform": {
                    "location": {
                        "x": 964.4180297851562,
                        "y": 3418.149658203125,
                        "z": 370.3273010253906
                    },
                    "rotation": {
                        "roll": -0.0010376257123425603,
                        "pitch": -0.3895871341228485,
                        "yaw": -80.86824035644531
                    }
                },
                "velocity": {
                    "x": 1.2806376218795776,
                    "y": -7.951793670654297,
                    "z": -0.052828315645456314
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024463653564453,
                "transform": {
                    "location": {
                        "x": 967.3046875,
                        "y": 3379.76025390625,
                        "z": 369.9863586425781
                    },
                    "rotation": {
                        "roll": -0.00039673587889410555,
                        "pitch": -0.6387045979499817,
                        "yaw": -80.85413360595703
                    }
                },
                "velocity": {
                    "x": 1.2754302024841309,
                    "y": -7.921966552734375,
                    "z": -0.08796306699514389
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.069914817810059,
                "transform": {
                    "location": {
                        "x": 971.1646728515625,
                        "y": 3376.22607421875,
                        "z": 369.9486389160156
                    },
                    "rotation": {
                        "roll": -9.157307067653164e-05,
                        "pitch": -0.6477341055870056,
                        "yaw": -80.85881042480469
                    }
                },
                "velocity": {
                    "x": 1.2819538116455078,
                    "y": -7.966908931732178,
                    "z": -0.09211423993110657
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.03641325607895851,
                "transform": {
                    "location": {
                        "x": 966.8175659179688,
                        "y": 3361.68115234375,
                        "z": 369.81109619140625
                    },
                    "rotation": {
                        "roll": -0.00033568908111192286,
                        "pitch": 0.6656224131584167,
                        "yaw": 99.14257049560547
                    }
                },
                "velocity": {
                    "x": -0.00010110622679349035,
                    "y": -0.0006396433454938233,
                    "z": 0.03640749678015709
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.059589862823486,
                "transform": {
                    "location": {
                        "x": 959.9395141601562,
                        "y": 3403.8076171875,
                        "z": 370.26513671875
                    },
                    "rotation": {
                        "roll": -0.00018309826555196196,
                        "pitch": 0.3716168999671936,
                        "yaw": 99.1424789428711
                    }
                },
                "velocity": {
                    "x": -1.1211813688278198,
                    "y": 6.9697723388671875,
                    "z": 0.05504029989242554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.8322834968566895,
                "transform": {
                    "location": {
                        "x": 957.0330200195312,
                        "y": 3421.868896484375,
                        "z": 370.36187744140625
                    },
                    "rotation": {
                        "roll": -0.0004577807558234781,
                        "pitch": 0.4037051498889923,
                        "yaw": 99.1405029296875
                    }
                },
                "velocity": {
                    "x": -1.2442015409469604,
                    "y": 7.73264741897583,
                    "z": 0.05281288921833038
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.194598436355591,
                "transform": {
                    "location": {
                        "x": 943.2339477539062,
                        "y": 3487.15673828125,
                        "z": 370.6910705566406
                    },
                    "rotation": {
                        "roll": 9.999195026466623e-05,
                        "pitch": 0.16042748093605042,
                        "yaw": 99.12945556640625
                    }
                },
                "velocity": {
                    "x": -0.5065624713897705,
                    "y": 3.1541621685028076,
                    "z": 0.010707025416195393
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.7772216796875,
                        "y": 3503.052734375,
                        "z": 370.7511291503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.20927906036377,
                "transform": {
                    "location": {
                        "x": 962.8489379882812,
                        "y": 3385.73046875,
                        "z": 370.0611572265625
                    },
                    "rotation": {
                        "roll": 0.000848530326038599,
                        "pitch": 0.7154896259307861,
                        "yaw": 99.14802551269531
                    }
                },
                "velocity": {
                    "x": -1.4629632234573364,
                    "y": 9.091836929321289,
                    "z": 0.09515418857336044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024603843688965,
                "transform": {
                    "location": {
                        "x": 954.1463623046875,
                        "y": 3439.8056640625,
                        "z": 370.47186279296875
                    },
                    "rotation": {
                        "roll": 0.0023226647172123194,
                        "pitch": 0.33817631006240845,
                        "yaw": 99.15423583984375
                    }
                },
                "velocity": {
                    "x": -1.276275396347046,
                    "y": 7.92233419418335,
                    "z": 0.04476838931441307
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047492027282715,
                "transform": {
                    "location": {
                        "x": 951.168701171875,
                        "y": 3458.30810546875,
                        "z": 370.5718994140625
                    },
                    "rotation": {
                        "roll": -0.00018310961604584008,
                        "pitch": 0.25864559412002563,
                        "yaw": 99.12592315673828
                    }
                },
                "velocity": {
                    "x": -1.278377652168274,
                    "y": 7.945220947265625,
                    "z": 0.03667084500193596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651451587677,
                "transform": {
                    "location": {
                        "x": 948.5863647460938,
                        "y": 3448.905029296875,
                        "z": 370.51287841796875
                    },
                    "rotation": {
                        "roll": 2.6806739697349258e-05,
                        "pitch": -0.009336868301033974,
                        "yaw": 99.14324188232422
                    }
                },
                "velocity": {
                    "x": -0.5031951069831848,
                    "y": 3.124842882156372,
                    "z": 0.01720060221850872
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626288890838623,
                "transform": {
                    "location": {
                        "x": 950.0856323242188,
                        "y": 3439.58642578125,
                        "z": 370.4656982421875
                    },
                    "rotation": {
                        "roll": 0.0009976269211620092,
                        "pitch": 0.5497891902923584,
                        "yaw": 99.13839721679688
                    }
                },
                "velocity": {
                    "x": -0.5022516846656799,
                    "y": 3.122441291809082,
                    "z": 0.018072204664349556
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0009205341339111,
        "expert_target_speed": 0,
        "target_point": [
            12.970976495532858,
            -0.08818926938420768
        ],
        "target_point_next": [
            63.958076906959015,
            -1.243257508397388
        ]
    },
    "420": {
        "acceleration": [
            0.579833984375,
            0.6219577789306641,
            0.018218159675598145
        ],
        "angular_velocity": [
            -0.3567291498184204,
            -0.4447919428348541,
            -4.445245742797852
        ],
        "forward_vector": [
            -0.16621167957782745,
            0.9860386848449707,
            0.010070033371448517
        ],
        "right_vector": [
            -0.9860898852348328,
            -0.1661953628063202,
            -0.0024425482843071222
        ],
        "location": [
            952.4901123046875,
            3431.494873046875,
            370.4231872558594
        ],
        "rotation": [
            0.13995493948459625,
            0.5769801735877991,
            99.56812286376953
        ],
        "velocity": [
            -0.8503300547599792,
            5.517195224761963,
            0.03531506285071373
        ],
        "speed": 5.5823386094149035,
        "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": 9.225680351257324,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                949.9599609375,
                3440.36669921875,
                370.47027587890625
            ],
            "velocity": [
                -0.5023183822631836,
                3.1224071979522705,
                0.018129168078303337
            ],
            "speed_kmh": 11.385382978758178,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.2105102539062,
                        "y": 3503.9873046875,
                        "z": 370.7571716308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.17403320968151093,
                        "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": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.697951316833496,
                "transform": {
                    "location": {
                        "x": 951.2296142578125,
                        "y": 3499.506591796875,
                        "z": 370.7518310546875
                    },
                    "rotation": {
                        "roll": -0.01614380069077015,
                        "pitch": -0.34329211711883545,
                        "yaw": -80.62940216064453
                    }
                },
                "velocity": {
                    "x": 1.1222718954086304,
                    "y": -6.602845191955566,
                    "z": 0.07409139722585678
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07365608215332,
                "transform": {
                    "location": {
                        "x": 954.0165405273438,
                        "y": 3462.3203125,
                        "z": 370.58355712890625
                    },
                    "rotation": {
                        "roll": 8.271016122307628e-05,
                        "pitch": -0.25976574420928955,
                        "yaw": -80.82954406738281
                    }
                },
                "velocity": {
                    "x": 1.286452293395996,
                    "y": -7.9704179763793945,
                    "z": -0.03761761263012886
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.020095825195312,
                "transform": {
                    "location": {
                        "x": 957.7766723632812,
                        "y": 3459.40869140625,
                        "z": 370.5767517089844
                    },
                    "rotation": {
                        "roll": 0.0015551778487861156,
                        "pitch": -0.25912371277809143,
                        "yaw": -80.82451629638672
                    }
                },
                "velocity": {
                    "x": 1.2770508527755737,
                    "y": -7.9176836013793945,
                    "z": -0.03680906817317009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024177551269531,
                "transform": {
                    "location": {
                        "x": 960.638671875,
                        "y": 3421.177734375,
                        "z": 370.348388671875
                    },
                    "rotation": {
                        "roll": -0.0005187998176552355,
                        "pitch": -0.39404043555259705,
                        "yaw": -80.85957336425781
                    }
                },
                "velocity": {
                    "x": 1.274652123451233,
                    "y": -7.922109127044678,
                    "z": -0.053554341197013855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052972793579102,
                "transform": {
                    "location": {
                        "x": 964.738037109375,
                        "y": 3416.162109375,
                        "z": 370.3136901855469
                    },
                    "rotation": {
                        "roll": 0.0002593798271846026,
                        "pitch": -0.39230555295944214,
                        "yaw": -80.83903503417969
                    }
                },
                "velocity": {
                    "x": 1.2793431282043457,
                    "y": -7.950508117675781,
                    "z": -0.0554300993680954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040419578552246,
                "transform": {
                    "location": {
                        "x": 967.6239013671875,
                        "y": 3377.77734375,
                        "z": 369.9643249511719
                    },
                    "rotation": {
                        "roll": -0.0004577576764859259,
                        "pitch": -0.637174665927887,
                        "yaw": -80.85417175292969
                    }
                },
                "velocity": {
                    "x": 1.2779309749603271,
                    "y": -7.937719345092773,
                    "z": -0.08859854191541672
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.010698318481445,
                "transform": {
                    "location": {
                        "x": 971.4841918945312,
                        "y": 3374.2421875,
                        "z": 369.9256896972656
                    },
                    "rotation": {
                        "roll": 0.0002958523982670158,
                        "pitch": -0.6636962890625,
                        "yaw": -80.8515853881836
                    }
                },
                "velocity": {
                    "x": 1.2735707759857178,
                    "y": -7.908272743225098,
                    "z": -0.09233561903238297
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.553955078125,
                        "y": 3363.326416015625,
                        "z": 369.82427978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.077359676361084,
                "transform": {
                    "location": {
                        "x": 959.6637573242188,
                        "y": 3405.522705078125,
                        "z": 370.27825927734375
                    },
                    "rotation": {
                        "roll": -0.00027469522319734097,
                        "pitch": 0.40571320056915283,
                        "yaw": 99.13207244873047
                    }
                },
                "velocity": {
                    "x": -1.123664140701294,
                    "y": 6.987388610839844,
                    "z": 0.052875250577926636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.401561737060547,
                "transform": {
                    "location": {
                        "x": 956.703857421875,
                        "y": 3423.9140625,
                        "z": 370.3758850097656
                    },
                    "rotation": {
                        "roll": -9.151715494226664e-05,
                        "pitch": 0.4860840439796448,
                        "yaw": 99.14385986328125
                    }
                },
                "velocity": {
                    "x": -1.3351589441299438,
                    "y": 8.294599533081055,
                    "z": 0.05667112395167351
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.871349573135376,
                "transform": {
                    "location": {
                        "x": 943.0936279296875,
                        "y": 3488.030029296875,
                        "z": 370.6939392089844
                    },
                    "rotation": {
                        "roll": -0.00015259976498782635,
                        "pitch": 0.21494604647159576,
                        "yaw": 99.12598419189453
                    }
                },
                "velocity": {
                    "x": -0.6139736175537109,
                    "y": 3.822329044342041,
                    "z": 0.01356649398803711
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.5655517578125,
                        "y": 3504.36767578125,
                        "z": 370.7550048828125
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.838626861572266,
                "transform": {
                    "location": {
                        "x": 962.4830322265625,
                        "y": 3388.00390625,
                        "z": 370.08416748046875
                    },
                    "rotation": {
                        "roll": -6.104755448177457e-05,
                        "pitch": 0.5429180264472961,
                        "yaw": 99.14260864257812
                    }
                },
                "velocity": {
                    "x": -1.4044175148010254,
                    "y": 8.725921630859375,
                    "z": 0.08500897884368896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025914192199707,
                "transform": {
                    "location": {
                        "x": 953.827392578125,
                        "y": 3441.7861328125,
                        "z": 370.4834289550781
                    },
                    "rotation": {
                        "roll": -0.0005798425409011543,
                        "pitch": 0.33953550457954407,
                        "yaw": 99.13241577148438
                    }
                },
                "velocity": {
                    "x": -1.275649070739746,
                    "y": 7.923759460449219,
                    "z": 0.045335836708545685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046167373657227,
                "transform": {
                    "location": {
                        "x": 950.8489379882812,
                        "y": 3460.294189453125,
                        "z": 370.5809020996094
                    },
                    "rotation": {
                        "roll": -0.0010986443376168609,
                        "pitch": 0.2585841119289398,
                        "yaw": 99.16350555419922
                    }
                },
                "velocity": {
                    "x": -1.278939962387085,
                    "y": 7.943788051605225,
                    "z": 0.036772213876247406
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165161609649658,
                "transform": {
                    "location": {
                        "x": 948.4606323242188,
                        "y": 3449.686279296875,
                        "z": 370.5169372558594
                    },
                    "rotation": {
                        "roll": -9.155262523563579e-05,
                        "pitch": -0.01047067902982235,
                        "yaw": 99.14305114746094
                    }
                },
                "velocity": {
                    "x": -0.5029158592224121,
                    "y": 3.1249067783355713,
                    "z": 0.016815317794680595
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626064777374268,
                "transform": {
                    "location": {
                        "x": 949.9599609375,
                        "y": 3440.36669921875,
                        "z": 370.47027587890625
                    },
                    "rotation": {
                        "roll": -3.0550494557246566e-05,
                        "pitch": 0.5498985052108765,
                        "yaw": 99.13794708251953
                    }
                },
                "velocity": {
                    "x": -0.5023183822631836,
                    "y": 3.1224071979522705,
                    "z": 0.018129168078303337
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9981403946876526,
        "expert_target_speed": 0,
        "target_point": [
            11.619265883344989,
            0.1078681848612606
        ],
        "target_point_next": [
            62.618040752501116,
            -0.2710155001383221
        ]
    },
    "425": {
        "acceleration": [
            0.22688984870910645,
            3.3135414123535156,
            0.02768881618976593
        ],
        "angular_velocity": [
            0.857632577419281,
            -0.19028280675411224,
            -6.255099773406982
        ],
        "forward_vector": [
            -0.1431763768196106,
            0.9896647334098816,
            0.008017810992896557
        ],
        "right_vector": [
            -0.9896941184997559,
            -0.143151193857193,
            -0.0036333573516458273
        ],
        "location": [
            952.2969360351562,
            3432.869384765625,
            370.4324035644531
        ],
        "rotation": [
            0.2081831842660904,
            0.45939165353775024,
            98.2319564819336
        ],
        "velocity": [
            -0.6916339993476868,
            5.675169944763184,
            0.03632734343409538
        ],
        "speed": 5.717159390029023,
        "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": 8.636453628540039,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                949.8344116210938,
                3441.147216796875,
                370.4748229980469
            ],
            "velocity": [
                -0.5023587942123413,
                3.1224353313446045,
                0.01738896407186985
            ],
            "speed_kmh": 11.385491116275787,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.973910808563232,
                "transform": {
                    "location": {
                        "x": 947.53515625,
                        "y": 3501.971435546875,
                        "z": 370.7489318847656
                    },
                    "rotation": {
                        "roll": -0.003509538946673274,
                        "pitch": -0.30297350883483887,
                        "yaw": -80.84770202636719
                    }
                },
                "velocity": {
                    "x": 1.1183478832244873,
                    "y": -6.8835906982421875,
                    "z": -0.030157603323459625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.481923580169678,
                "transform": {
                    "location": {
                        "x": 951.5044555664062,
                        "y": 3497.882080078125,
                        "z": 370.759765625
                    },
                    "rotation": {
                        "roll": -0.0062866127118468285,
                        "pitch": -0.2306554764509201,
                        "yaw": -80.40473937988281
                    }
                },
                "velocity": {
                    "x": 1.0920031070709229,
                    "y": -6.389275550842285,
                    "z": 0.004415054339915514
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.041552543640137,
                "transform": {
                    "location": {
                        "x": 954.3370361328125,
                        "y": 3460.334716796875,
                        "z": 370.57440185546875
                    },
                    "rotation": {
                        "roll": -0.0006713930051773787,
                        "pitch": -0.2573546767234802,
                        "yaw": -80.8334732055664
                    }
                },
                "velocity": {
                    "x": 1.281106948852539,
                    "y": -7.938765048980713,
                    "z": -0.03673302009701729
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066059112548828,
                "transform": {
                    "location": {
                        "x": 958.0969848632812,
                        "y": 3457.42236328125,
                        "z": 370.56768798828125
                    },
                    "rotation": {
                        "roll": -0.00015257354243658483,
                        "pitch": -0.2572658956050873,
                        "yaw": -80.8366928100586
                    }
                },
                "velocity": {
                    "x": 1.2844940423965454,
                    "y": -7.963041305541992,
                    "z": -0.036703284829854965
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038326263427734,
                "transform": {
                    "location": {
                        "x": 960.9576416015625,
                        "y": 3419.1953125,
                        "z": 370.3347473144531
                    },
                    "rotation": {
                        "roll": -0.0018615905428305268,
                        "pitch": -0.39394479990005493,
                        "yaw": -80.85755920410156
                    }
                },
                "velocity": {
                    "x": 1.278251051902771,
                    "y": -7.935865879058838,
                    "z": -0.05289485305547714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054038047790527,
                "transform": {
                    "location": {
                        "x": 965.0579223632812,
                        "y": 3414.17431640625,
                        "z": 370.2994384765625
                    },
                    "rotation": {
                        "roll": 0.0017503224080428481,
                        "pitch": -0.41757041215896606,
                        "yaw": -80.87059783935547
                    }
                },
                "velocity": {
                    "x": 1.2790532112121582,
                    "y": -7.951623439788818,
                    "z": -0.0568997748196125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025846481323242,
                "transform": {
                    "location": {
                        "x": 967.94287109375,
                        "y": 3375.794921875,
                        "z": 369.9418640136719
                    },
                    "rotation": {
                        "roll": 0.00031783830490894616,
                        "pitch": -0.6600011587142944,
                        "yaw": -80.85762786865234
                    }
                },
                "velocity": {
                    "x": 1.2751179933547974,
                    "y": -7.923375129699707,
                    "z": -0.09168829768896103
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06982135772705,
                "transform": {
                    "location": {
                        "x": 971.8038330078125,
                        "y": 3372.2578125,
                        "z": 369.9023742675781
                    },
                    "rotation": {
                        "roll": -0.0010070930002257228,
                        "pitch": -0.6611281037330627,
                        "yaw": -80.85160827636719
                    }
                },
                "velocity": {
                    "x": 1.2829188108444214,
                    "y": -7.966660022735596,
                    "z": -0.09203498810529709
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.06678193807601929,
                "transform": {
                    "location": {
                        "x": 966.4222412109375,
                        "y": 3364.14892578125,
                        "z": 369.8372497558594
                    },
                    "rotation": {
                        "roll": 2.206622411904391e-05,
                        "pitch": 0.6709840893745422,
                        "yaw": 99.142578125
                    }
                },
                "velocity": {
                    "x": 8.344916568603367e-05,
                    "y": -0.0009632435976527631,
                    "z": 0.06677494198083878
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.183963775634766,
                "transform": {
                    "location": {
                        "x": 959.3619384765625,
                        "y": 3407.39892578125,
                        "z": 370.2914733886719
                    },
                    "rotation": {
                        "roll": 0.000132073211716488,
                        "pitch": 0.5039586424827576,
                        "yaw": 99.14198303222656
                    }
                },
                "velocity": {
                    "x": -1.299749732017517,
                    "y": 8.079874038696289,
                    "z": 0.05953608453273773
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.9853901863098145,
                "transform": {
                    "location": {
                        "x": 956.38232421875,
                        "y": 3425.911376953125,
                        "z": 370.3892517089844
                    },
                    "rotation": {
                        "roll": -0.0002441568358335644,
                        "pitch": 0.3388388454914093,
                        "yaw": 99.14435577392578
                    }
                },
                "velocity": {
                    "x": -1.2690949440002441,
                    "y": 7.8837199211120605,
                    "z": 0.05303027853369713
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.602205753326416,
                "transform": {
                    "location": {
                        "x": 942.925048828125,
                        "y": 3489.07861328125,
                        "z": 370.69769287109375
                    },
                    "rotation": {
                        "roll": 3.321738404338248e-06,
                        "pitch": 0.2241804599761963,
                        "yaw": 99.12969970703125
                    }
                },
                "velocity": {
                    "x": -0.7302120923995972,
                    "y": 4.543878555297852,
                    "z": 0.016075391322374344
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.3419799804688,
                        "y": 3505.756103515625,
                        "z": 370.7591247558594
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.494466781616211,
                "transform": {
                    "location": {
                        "x": 962.1605224609375,
                        "y": 3390.008056640625,
                        "z": 370.10357666015625
                    },
                    "rotation": {
                        "roll": 0.0008067952003329992,
                        "pitch": 0.3952561914920807,
                        "yaw": 99.13321685791016
                    }
                },
                "velocity": {
                    "x": -1.1899904012680054,
                    "y": 7.399024486541748,
                    "z": 0.07344550639390945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025068283081055,
                "transform": {
                    "location": {
                        "x": 953.508544921875,
                        "y": 3443.7666015625,
                        "z": 370.494873046875
                    },
                    "rotation": {
                        "roll": 8.863391121849418e-05,
                        "pitch": 0.33739084005355835,
                        "yaw": 99.16096496582031
                    }
                },
                "velocity": {
                    "x": -1.2767112255096436,
                    "y": 7.922737121582031,
                    "z": 0.04435155913233757
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046883583068848,
                "transform": {
                    "location": {
                        "x": 950.529296875,
                        "y": 3462.280517578125,
                        "z": 370.58990478515625
                    },
                    "rotation": {
                        "roll": 0.00019877120212186128,
                        "pitch": 0.25939008593559265,
                        "yaw": 99.13231658935547
                    }
                },
                "velocity": {
                    "x": -1.279378890991211,
                    "y": 7.9444403648376465,
                    "z": 0.037266626954078674
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165193557739258,
                "transform": {
                    "location": {
                        "x": 948.3348999023438,
                        "y": 3450.467529296875,
                        "z": 370.52099609375
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.009767170064151287,
                        "yaw": 99.14271545410156
                    }
                },
                "velocity": {
                    "x": -0.5029480457305908,
                    "y": 3.124933958053589,
                    "z": 0.01681322045624256
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626362800598145,
                "transform": {
                    "location": {
                        "x": 949.8344116210938,
                        "y": 3441.147216796875,
                        "z": 370.4748229980469
                    },
                    "rotation": {
                        "roll": 0.00199845596216619,
                        "pitch": 0.550069272518158,
                        "yaw": 99.1383285522461
                    }
                },
                "velocity": {
                    "x": -0.5023587942123413,
                    "y": 3.1224353313446045,
                    "z": 0.01738896407186985
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0008151531219482,
        "expert_target_speed": 0,
        "target_point": [
            10.225582831802974,
            0.3843909570143733
        ],
        "target_point_next": [
            61.21932618395951,
            1.1947797131189457
        ]
    },
    "430": {
        "acceleration": [
            0.1642310619354248,
            5.194730758666992,
            0.023889318108558655
        ],
        "angular_velocity": [
            0.5620649456977844,
            -0.033977679908275604,
            -6.4051594734191895
        ],
        "forward_vector": [
            -0.11602867394685745,
            0.9931544065475464,
            0.013478943146765232
        ],
        "right_vector": [
            -0.9932432174682617,
            -0.1159861758351326,
            -0.0038956233765929937
        ],
        "location": [
            952.1124267578125,
            3434.5029296875,
            370.4415283203125
        ],
        "rotation": [
            0.22322361171245575,
            0.7723099589347839,
            96.66356658935547
        ],
        "velocity": [
            -0.7096395492553711,
            7.1265482902526855,
            0.042061012238264084
        ],
        "speed": 7.161792989410602,
        "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": 7.804034233093262,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                949.7088012695312,
                3441.927490234375,
                370.4794006347656
            ],
            "velocity": [
                -0.5023413896560669,
                3.1223254203796387,
                0.017933111637830734
            ],
            "speed_kmh": 11.385101453526236,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.689098358154297,
                "transform": {
                    "location": {
                        "x": 947.8155517578125,
                        "y": 3500.294921875,
                        "z": 370.7442626953125
                    },
                    "rotation": {
                        "roll": -0.043731674551963806,
                        "pitch": -0.42644965648651123,
                        "yaw": -80.5005111694336
                    }
                },
                "velocity": {
                    "x": 1.136044979095459,
                    "y": -6.591891765594482,
                    "z": -0.01990046538412571
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.405355453491211,
                "transform": {
                    "location": {
                        "x": 951.7811279296875,
                        "y": 3496.260498046875,
                        "z": 370.7570495605469
                    },
                    "rotation": {
                        "roll": -0.003662099363282323,
                        "pitch": -0.20785631239414215,
                        "yaw": -80.3160629272461
                    }
                },
                "velocity": {
                    "x": 1.0817492008209229,
                    "y": -6.313326835632324,
                    "z": -0.017371874302625656
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.097821235656738,
                "transform": {
                    "location": {
                        "x": 954.6585693359375,
                        "y": 3458.341064453125,
                        "z": 370.5653381347656
                    },
                    "rotation": {
                        "roll": 6.832925282651559e-05,
                        "pitch": -0.25631648302078247,
                        "yaw": -80.84120178222656
                    }
                },
                "velocity": {
                    "x": 1.2878637313842773,
                    "y": -7.994670391082764,
                    "z": -0.03694162890315056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000351905822754,
                "transform": {
                    "location": {
                        "x": 958.4164428710938,
                        "y": 3455.44091796875,
                        "z": 370.558349609375
                    },
                    "rotation": {
                        "roll": -0.0004882837529294193,
                        "pitch": -0.26757264137268066,
                        "yaw": -80.84199523925781
                    }
                },
                "velocity": {
                    "x": 1.2716654539108276,
                    "y": -7.898538112640381,
                    "z": -0.03992600739002228
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024166107177734,
                "transform": {
                    "location": {
                        "x": 961.2766723632812,
                        "y": 3417.213134765625,
                        "z": 370.3211364746094
                    },
                    "rotation": {
                        "roll": 0.0009600643534213305,
                        "pitch": -0.39322081208229065,
                        "yaw": -80.85731506347656
                    }
                },
                "velocity": {
                    "x": 1.273932933807373,
                    "y": -7.922215938568115,
                    "z": -0.053179387003183365
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053299903869629,
                "transform": {
                    "location": {
                        "x": 965.3779296875,
                        "y": 3412.186279296875,
                        "z": 370.2848205566406
                    },
                    "rotation": {
                        "roll": -0.0010070804273709655,
                        "pitch": -0.4258691072463989,
                        "yaw": -80.8346176147461
                    }
                },
                "velocity": {
                    "x": 1.280794382095337,
                    "y": -7.950568199157715,
                    "z": -0.06050635501742363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040522575378418,
                "transform": {
                    "location": {
                        "x": 968.2619018554688,
                        "y": 3373.812744140625,
                        "z": 369.9188537597656
                    },
                    "rotation": {
                        "roll": 0.0004358283767942339,
                        "pitch": -0.6757174134254456,
                        "yaw": -80.85777282714844
                    }
                },
                "velocity": {
                    "x": 1.277496576309204,
                    "y": -7.93784761428833,
                    "z": -0.0926191657781601
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009891510009766,
                "transform": {
                    "location": {
                        "x": 972.1233520507812,
                        "y": 3370.27392578125,
                        "z": 369.8791809082031
                    },
                    "rotation": {
                        "roll": -0.0001220443518832326,
                        "pitch": -0.659727931022644,
                        "yaw": -80.85160827636719
                    }
                },
                "velocity": {
                    "x": 1.2733979225158691,
                    "y": -7.9074931144714355,
                    "z": -0.09146571904420853
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.07493100315332413,
                "transform": {
                    "location": {
                        "x": 966.158203125,
                        "y": 3365.7939453125,
                        "z": 369.8568420410156
                    },
                    "rotation": {
                        "roll": 0.0006629995768889785,
                        "pitch": 0.6633206009864807,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 2.5398339857929386e-05,
                    "y": -0.0009751948527991772,
                    "z": 0.07492465525865555
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.582440376281738,
                "transform": {
                    "location": {
                        "x": 959.0197143554688,
                        "y": 3409.52490234375,
                        "z": 370.3074645996094
                    },
                    "rotation": {
                        "roll": 0.00033591827377676964,
                        "pitch": 0.47827714681625366,
                        "yaw": 99.13896942138672
                    }
                },
                "velocity": {
                    "x": -1.3635462522506714,
                    "y": 8.473189353942871,
                    "z": 0.06389228999614716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.269695281982422,
                "transform": {
                    "location": {
                        "x": 956.0556640625,
                        "y": 3427.94189453125,
                        "z": 370.40264892578125
                    },
                    "rotation": {
                        "roll": 5.312205394147895e-05,
                        "pitch": 0.405248761177063,
                        "yaw": 99.13973999023438
                    }
                },
                "velocity": {
                    "x": -1.3146381378173828,
                    "y": 8.164361953735352,
                    "z": 0.05267457664012909
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.243237018585205,
                "transform": {
                    "location": {
                        "x": 942.7272338867188,
                        "y": 3490.309814453125,
                        "z": 370.70245361328125
                    },
                    "rotation": {
                        "roll": 0.0006494531990028918,
                        "pitch": 0.2239414006471634,
                        "yaw": 99.13037109375
                    }
                },
                "velocity": {
                    "x": -0.8320361971855164,
                    "y": 5.176759719848633,
                    "z": 0.020205192267894745
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.0978393554688,
                        "y": 3507.273681640625,
                        "z": 370.763671875
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.415597438812256,
                "transform": {
                    "location": {
                        "x": 961.8703002929688,
                        "y": 3391.813720703125,
                        "z": 370.12158203125
                    },
                    "rotation": {
                        "roll": 0.00048442903789691627,
                        "pitch": 0.5106385946273804,
                        "yaw": 99.13273620605469
                    }
                },
                "velocity": {
                    "x": -1.177718162536621,
                    "y": 7.3211212158203125,
                    "z": 0.07245061546564102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025287628173828,
                "transform": {
                    "location": {
                        "x": 953.1897583007812,
                        "y": 3445.746826171875,
                        "z": 370.50579833984375
                    },
                    "rotation": {
                        "roll": 0.0009753704653121531,
                        "pitch": 0.3090250492095947,
                        "yaw": 99.12848663330078
                    }
                },
                "velocity": {
                    "x": -1.2749072313308716,
                    "y": 7.92324686050415,
                    "z": 0.044791460037231445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04785442352295,
                "transform": {
                    "location": {
                        "x": 950.2095947265625,
                        "y": 3464.266845703125,
                        "z": 370.59869384765625
                    },
                    "rotation": {
                        "roll": -0.00012206407700432464,
                        "pitch": 0.24722550809383392,
                        "yaw": 99.15862274169922
                    }
                },
                "velocity": {
                    "x": -1.2783540487289429,
                    "y": 7.945605754852295,
                    "z": 0.033647824078798294
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652257442474365,
                "transform": {
                    "location": {
                        "x": 948.2091674804688,
                        "y": 3451.248779296875,
                        "z": 370.5250549316406
                    },
                    "rotation": {
                        "roll": 5.299316035234369e-05,
                        "pitch": -0.010559472255408764,
                        "yaw": 99.1432876586914
                    }
                },
                "velocity": {
                    "x": -0.5031448006629944,
                    "y": 3.124934673309326,
                    "z": 0.01679096184670925
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625280380249023,
                "transform": {
                    "location": {
                        "x": 949.7088012695312,
                        "y": 3441.927490234375,
                        "z": 370.4794006347656
                    },
                    "rotation": {
                        "roll": -0.00045777714694850147,
                        "pitch": 0.5499326586723328,
                        "yaw": 99.1387710571289
                    }
                },
                "velocity": {
                    "x": -0.5023413896560669,
                    "y": 3.1223254203796387,
                    "z": 0.017933111637830734
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9984540939331055,
        "expert_target_speed": 0,
        "target_point": [
            8.567310172045463,
            0.6704278655063779
        ],
        "target_point_next": [
            59.519766017155725,
            2.876291495407113
        ]
    },
    "435": {
        "acceleration": [
            0.9366190433502197,
            -0.3235626220703125,
            -0.009392723441123962
        ],
        "angular_velocity": [
            -1.43440580368042,
            -0.3067021667957306,
            -6.619260787963867
        ],
        "forward_vector": [
            -0.08901673555374146,
            0.9959469437599182,
            0.012875915504992008
        ],
        "right_vector": [
            -0.996025025844574,
            -0.08896734565496445,
            -0.004360295366495848
        ],
        "location": [
            951.9392700195312,
            3436.42529296875,
            370.453125
        ],
        "rotation": [
            0.24984803795814514,
            0.7377560138702393,
            95.10746765136719
        ],
        "velocity": [
            -0.5906291604042053,
            7.878390312194824,
            0.04697638377547264
        ],
        "speed": 7.900498510626088,
        "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": 6.709784507751465,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                949.583251953125,
                3442.707763671875,
                370.4839782714844
            ],
            "velocity": [
                -0.5023508071899414,
                3.12241792678833,
                0.017537936568260193
            ],
            "speed_kmh": 11.38542765047209,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.926585674285889,
                "transform": {
                    "location": {
                        "x": 948.1040649414062,
                        "y": 3498.614013671875,
                        "z": 370.7370300292969
                    },
                    "rotation": {
                        "roll": -0.003906250931322575,
                        "pitch": -0.16744890809059143,
                        "yaw": -80.224853515625
                    }
                },
                "velocity": {
                    "x": 1.169540524482727,
                    "y": -6.827099323272705,
                    "z": -0.02191600762307644
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.213639736175537,
                "transform": {
                    "location": {
                        "x": 952.0145874023438,
                        "y": 3494.889892578125,
                        "z": 370.75341796875
                    },
                    "rotation": {
                        "roll": -0.0010681116255000234,
                        "pitch": -0.2949480414390564,
                        "yaw": -80.16608428955078
                    }
                },
                "velocity": {
                    "x": 0.8805603384971619,
                    "y": -5.138710975646973,
                    "z": -0.017308378592133522
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043052673339844,
                "transform": {
                    "location": {
                        "x": 954.9793701171875,
                        "y": 3456.349853515625,
                        "z": 370.5563659667969
                    },
                    "rotation": {
                        "roll": -0.0003051737730856985,
                        "pitch": -0.2569516897201538,
                        "yaw": -80.85124969482422
                    }
                },
                "velocity": {
                    "x": 1.2787734270095825,
                    "y": -7.940659046173096,
                    "z": -0.03686225786805153
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068538665771484,
                "transform": {
                    "location": {
                        "x": 958.7359008789062,
                        "y": 3453.45751953125,
                        "z": 370.5485534667969
                    },
                    "rotation": {
                        "roll": 0.00029179436387494206,
                        "pitch": -0.2969287931919098,
                        "yaw": -80.84749603271484
                    }
                },
                "velocity": {
                    "x": 1.2833808660507202,
                    "y": -7.965709209442139,
                    "z": -0.04149584844708443
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039074897766113,
                "transform": {
                    "location": {
                        "x": 961.5957641601562,
                        "y": 3415.23046875,
                        "z": 370.30755615234375
                    },
                    "rotation": {
                        "roll": -0.00027464155573397875,
                        "pitch": -0.3973667323589325,
                        "yaw": -80.85563659667969
                    }
                },
                "velocity": {
                    "x": 1.2775847911834717,
                    "y": -7.936707496643066,
                    "z": -0.05630474537611008
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054021835327148,
                "transform": {
                    "location": {
                        "x": 965.6979370117188,
                        "y": 3410.198974609375,
                        "z": 370.2699279785156
                    },
                    "rotation": {
                        "roll": 9.930726810125634e-05,
                        "pitch": -0.4246464967727661,
                        "yaw": -80.86893463134766
                    }
                },
                "velocity": {
                    "x": 1.2795851230621338,
                    "y": -7.951498031616211,
                    "z": -0.060087449848651886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02649211883545,
                "transform": {
                    "location": {
                        "x": 968.5809326171875,
                        "y": 3371.829833984375,
                        "z": 369.89556884765625
                    },
                    "rotation": {
                        "roll": 0.00022605221602134407,
                        "pitch": -0.6745904088020325,
                        "yaw": -80.86100769042969
                    }
                },
                "velocity": {
                    "x": 1.274662733078003,
                    "y": -7.924099445343018,
                    "z": -0.09192736446857452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.4254760742188,
                        "y": 3368.272705078125,
                        "z": 369.8550720214844
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.06156928837299347,
                "transform": {
                    "location": {
                        "x": 965.8935546875,
                        "y": 3367.43896484375,
                        "z": 369.8782653808594
                    },
                    "rotation": {
                        "roll": -0.00018309331790078431,
                        "pitch": 0.6626444458961487,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.0002411568129900843,
                    "y": -0.0007960275397635996,
                    "z": 0.06156367063522339
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.278528213500977,
                "transform": {
                    "location": {
                        "x": 958.68359375,
                        "y": 3411.61376953125,
                        "z": 370.3236389160156
                    },
                    "rotation": {
                        "roll": -3.052319516427815e-05,
                        "pitch": 0.4122770130634308,
                        "yaw": 99.15025329589844
                    }
                },
                "velocity": {
                    "x": -1.315917730331421,
                    "y": 8.173040390014648,
                    "z": 0.061659857630729675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.5990190505981445,
                "transform": {
                    "location": {
                        "x": 955.7412109375,
                        "y": 3429.895263671875,
                        "z": 370.41534423828125
                    },
                    "rotation": {
                        "roll": 0.0008904428104870021,
                        "pitch": 0.27643823623657227,
                        "yaw": 99.1412582397461
                    }
                },
                "velocity": {
                    "x": -1.2072093486785889,
                    "y": 7.502354621887207,
                    "z": 0.049116019159555435
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.03598690032959,
                "transform": {
                    "location": {
                        "x": 942.5076904296875,
                        "y": 3491.67529296875,
                        "z": 370.7074279785156
                    },
                    "rotation": {
                        "roll": 0.00045029568718746305,
                        "pitch": 0.2256762683391571,
                        "yaw": 99.1432113647461
                    }
                },
                "velocity": {
                    "x": -0.9599348306655884,
                    "y": 5.959125995635986,
                    "z": 0.021949071437120438
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.8003540039062,
                        "y": 3509.121826171875,
                        "z": 370.7690124511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.395930290222168,
                "transform": {
                    "location": {
                        "x": 961.5570068359375,
                        "y": 3393.760498046875,
                        "z": 370.1409606933594
                    },
                    "rotation": {
                        "roll": -0.00018312015163246542,
                        "pitch": 0.6668449640274048,
                        "yaw": 99.14273071289062
                    }
                },
                "velocity": {
                    "x": -1.3337485790252686,
                    "y": 8.28893756866455,
                    "z": 0.0792372077703476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025223731994629,
                "transform": {
                    "location": {
                        "x": 952.8709716796875,
                        "y": 3447.727783203125,
                        "z": 370.5163879394531
                    },
                    "rotation": {
                        "roll": 0.00019244852592237294,
                        "pitch": 0.2988617420196533,
                        "yaw": 99.15913391113281
                    }
                },
                "velocity": {
                    "x": -1.2753617763519287,
                    "y": 7.923126220703125,
                    "z": 0.041734952479600906
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046628952026367,
                "transform": {
                    "location": {
                        "x": 949.889892578125,
                        "y": 3466.2529296875,
                        "z": 370.6071472167969
                    },
                    "rotation": {
                        "roll": -0.000335696036927402,
                        "pitch": 0.23947325348854065,
                        "yaw": 99.13079833984375
                    }
                },
                "velocity": {
                    "x": -1.279200553894043,
                    "y": 7.944230079650879,
                    "z": 0.033002402633428574
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165182113647461,
                "transform": {
                    "location": {
                        "x": 948.0834350585938,
                        "y": 3452.030029296875,
                        "z": 370.5291442871094
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.009978906251490116,
                        "yaw": 99.14265441894531
                    }
                },
                "velocity": {
                    "x": -0.5028833150863647,
                    "y": 3.1249337196350098,
                    "z": 0.016562718898057938
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.16261887550354,
                "transform": {
                    "location": {
                        "x": 949.583251953125,
                        "y": 3442.707763671875,
                        "z": 370.4839782714844
                    },
                    "rotation": {
                        "roll": 0.0010190524626523256,
                        "pitch": 0.549837052822113,
                        "yaw": 99.13858032226562
                    }
                },
                "velocity": {
                    "x": -0.5023508071899414,
                    "y": 3.12241792678833,
                    "z": 0.017537936568260193
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0009801387786865,
        "expert_target_speed": 0,
        "target_point": [
            57.489569469946524,
            4.490111408150565
        ],
        "target_point_next": [
            108.36309528125621,
            8.078756905512597
        ]
    },
    "440": {
        "acceleration": [
            2.0137977600097656,
            0.3674888610839844,
            -0.0010599195957183838
        ],
        "angular_velocity": [
            -1.2727082967758179,
            -0.8429715633392334,
            -12.920233726501465
        ],
        "forward_vector": [
            -0.04263653606176376,
            0.998996376991272,
            0.013722226954996586
        ],
        "right_vector": [
            -0.9990587830543518,
            -0.04252144321799278,
            -0.008572639897465706
        ],
        "location": [
            951.8302612304688,
            3438.622314453125,
            370.4655456542969
        ],
        "rotation": [
            0.4912284016609192,
            0.7862503528594971,
            92.44386291503906
        ],
        "velocity": [
            -0.19109418988227844,
            9.08915901184082,
            0.05240115150809288
        ],
        "speed": 9.091167611035118,
        "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": 5.413392543792725,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                949.4577026367188,
                3443.488037109375,
                370.48858642578125
            ],
            "velocity": [
                -0.5018234252929688,
                3.1225738525390625,
                0.017979029566049576
            ],
            "speed_kmh": 11.385689363612492,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.747415542602539,
                "transform": {
                    "location": {
                        "x": 948.3731689453125,
                        "y": 3497.03466796875,
                        "z": 370.73333740234375
                    },
                    "rotation": {
                        "roll": 0.011900237761437893,
                        "pitch": -0.34850355982780457,
                        "yaw": -80.29362487792969
                    }
                },
                "velocity": {
                    "x": 0.9601619243621826,
                    "y": -5.6666107177734375,
                    "z": -0.01990126073360443
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.643017768859863,
                "transform": {
                    "location": {
                        "x": 952.2363891601562,
                        "y": 3493.57177734375,
                        "z": 370.7479553222656
                    },
                    "rotation": {
                        "roll": 0.00274101085960865,
                        "pitch": -0.20342351496219635,
                        "yaw": -80.32151794433594
                    }
                },
                "velocity": {
                    "x": 0.9281179308891296,
                    "y": -5.566136837005615,
                    "z": -0.019162878394126892
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086587905883789,
                "transform": {
                    "location": {
                        "x": 955.2998046875,
                        "y": 3454.35986328125,
                        "z": 370.5467834472656
                    },
                    "rotation": {
                        "roll": 0.00021490005019586533,
                        "pitch": -0.27978503704071045,
                        "yaw": -80.85286712646484
                    }
                },
                "velocity": {
                    "x": 1.2855665683746338,
                    "y": -7.98364782333374,
                    "z": -0.03986082598567009
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005118370056152,
                "transform": {
                    "location": {
                        "x": 959.0552978515625,
                        "y": 3451.473876953125,
                        "z": 370.53814697265625
                    },
                    "rotation": {
                        "roll": 0.00019376914133317769,
                        "pitch": -0.29394400119781494,
                        "yaw": -80.85432434082031
                    }
                },
                "velocity": {
                    "x": 1.2721502780914307,
                    "y": -7.903282165527344,
                    "z": -0.040926408022642136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02348804473877,
                "transform": {
                    "location": {
                        "x": 961.914794921875,
                        "y": 3413.248291015625,
                        "z": 370.29327392578125
                    },
                    "rotation": {
                        "roll": -0.0017699877498671412,
                        "pitch": -0.4240386188030243,
                        "yaw": -80.85549926757812
                    }
                },
                "velocity": {
                    "x": 1.2750211954116821,
                    "y": -7.921331405639648,
                    "z": -0.05655340850353241
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053779602050781,
                "transform": {
                    "location": {
                        "x": 966.0179443359375,
                        "y": 3408.21044921875,
                        "z": 370.25506591796875
                    },
                    "rotation": {
                        "roll": 0.00048358255298808217,
                        "pitch": -0.4234238862991333,
                        "yaw": -80.83951568603516
                    }
                },
                "velocity": {
                    "x": 1.2795283794403076,
                    "y": -7.951259613037109,
                    "z": -0.06034313887357712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.8923950195312,
                        "y": 3369.83154296875,
                        "z": 369.87261962890625
                    },
                    "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": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.677734375,
                        "y": 3366.204833984375,
                        "z": 369.82830810546875
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.03984546661377,
                "transform": {
                    "location": {
                        "x": 965.3819580078125,
                        "y": 3370.6142578125,
                        "z": 369.89678955078125
                    },
                    "rotation": {
                        "roll": -0.010467498563230038,
                        "pitch": 0.5603691935539246,
                        "yaw": 99.18367767333984
                    }
                },
                "velocity": {
                    "x": -2.4291844367980957,
                    "y": 14.841005325317383,
                    "z": 0.20142148435115814
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003028869628906,
                "transform": {
                    "location": {
                        "x": 958.3654174804688,
                        "y": 3413.5908203125,
                        "z": 370.33831787109375
                    },
                    "rotation": {
                        "roll": 0.0004027102258987725,
                        "pitch": 0.38766786456108093,
                        "yaw": 99.13804626464844
                    }
                },
                "velocity": {
                    "x": -1.269242286682129,
                    "y": 7.901536464691162,
                    "z": 0.05667540431022644
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.838428020477295,
                "transform": {
                    "location": {
                        "x": 955.4392700195312,
                        "y": 3431.772216796875,
                        "z": 370.4276123046875
                    },
                    "rotation": {
                        "roll": 0.0005335003952495754,
                        "pitch": 0.3843415677547455,
                        "yaw": 99.14120483398438
                    }
                },
                "velocity": {
                    "x": -1.2452387809753418,
                    "y": 7.738726615905762,
                    "z": 0.04942702129483223
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.844149589538574,
                "transform": {
                    "location": {
                        "x": 942.2565307617188,
                        "y": 3493.2353515625,
                        "z": 370.7130432128906
                    },
                    "rotation": {
                        "roll": -0.00012206388055346906,
                        "pitch": 0.22446732223033905,
                        "yaw": 99.14527130126953
                    }
                },
                "velocity": {
                    "x": -1.0879178047180176,
                    "y": 6.75709342956543,
                    "z": 0.022501973435282707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.4776611328125,
                        "y": 3511.12744140625,
                        "z": 370.77459716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.282462120056152,
                "transform": {
                    "location": {
                        "x": 961.2192993164062,
                        "y": 3395.858154296875,
                        "z": 370.1603698730469
                    },
                    "rotation": {
                        "roll": -0.0009155491134151816,
                        "pitch": 0.514934778213501,
                        "yaw": 99.14762115478516
                    }
                },
                "velocity": {
                    "x": -1.3159332275390625,
                    "y": 8.176895141601562,
                    "z": 0.07670266926288605
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025313377380371,
                "transform": {
                    "location": {
                        "x": 952.5521850585938,
                        "y": 3449.7080078125,
                        "z": 370.52655029296875
                    },
                    "rotation": {
                        "roll": 0.0013516222825273871,
                        "pitch": 0.3010132610797882,
                        "yaw": 99.1299819946289
                    }
                },
                "velocity": {
                    "x": -1.2739810943603516,
                    "y": 7.923445224761963,
                    "z": 0.04063381999731064
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047295570373535,
                "transform": {
                    "location": {
                        "x": 949.5701904296875,
                        "y": 3468.239501953125,
                        "z": 370.6155090332031
                    },
                    "rotation": {
                        "roll": 0.0006334655918180943,
                        "pitch": 0.24056607484817505,
                        "yaw": 99.15797424316406
                    }
                },
                "velocity": {
                    "x": -1.2782999277114868,
                    "y": 7.945049285888672,
                    "z": 0.03341647982597351
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165318250656128,
                "transform": {
                    "location": {
                        "x": 947.9577026367188,
                        "y": 3452.811279296875,
                        "z": 370.53314208984375
                    },
                    "rotation": {
                        "roll": 0.0001648354227654636,
                        "pitch": -0.00787520781159401,
                        "yaw": 99.14261627197266
                    }
                },
                "velocity": {
                    "x": -0.5029568076133728,
                    "y": 3.1250576972961426,
                    "z": 0.016962002962827682
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162691593170166,
                "transform": {
                    "location": {
                        "x": 949.4577026367188,
                        "y": 3443.488037109375,
                        "z": 370.48858642578125
                    },
                    "rotation": {
                        "roll": -0.00033570872619748116,
                        "pitch": 0.5528218150138855,
                        "yaw": 99.1378402709961
                    }
                },
                "velocity": {
                    "x": -0.5018234252929688,
                    "y": 3.1225738525390625,
                    "z": 0.017979029566049576
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9996544718742371,
        "expert_target_speed": 0,
        "target_point": [
            55.01912640745824,
            7.141650685553824
        ],
        "target_point_next": [
            105.67092071551717,
            13.09057818165083
        ]
    },
    "445": {
        "acceleration": [
            1.301034927368164,
            -0.4705619812011719,
            -0.011350065469741821
        ],
        "angular_velocity": [
            -0.7271999716758728,
            0.3389488458633423,
            -11.01641845703125
        ],
        "forward_vector": [
            0.012037902139127254,
            0.9998982548713684,
            0.007651015650480986
        ],
        "right_vector": [
            -0.9998800158500671,
            0.012111544609069824,
            -0.009652899578213692
        ],
        "location": [
            951.8325805664062,
            3440.854248046875,
            370.4795227050781
        ],
        "rotation": [
            0.5530951619148254,
            0.43837517499923706,
            89.31024169921875
        ],
        "velocity": [
            0.2500830590724945,
            8.848636627197266,
            0.05074509605765343
        ],
        "speed": 8.852169886339285,
        "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": 4.231603622436523,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                949.3321533203125,
                3444.26806640625,
                370.4928283691406
            ],
            "velocity": [
                -0.5022963881492615,
                3.1223323345184326,
                0.01753516122698784
            ],
            "speed_kmh": 11.385092262421882,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.190378665924072,
                "transform": {
                    "location": {
                        "x": 948.598876953125,
                        "y": 3495.703369140625,
                        "z": 370.72906494140625
                    },
                    "rotation": {
                        "roll": 0.00027975140255875885,
                        "pitch": -0.4092717468738556,
                        "yaw": -80.36763763427734
                    }
                },
                "velocity": {
                    "x": 0.8636218309402466,
                    "y": -5.117995262145996,
                    "z": -0.017722882330417633
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.555157661437988,
                "transform": {
                    "location": {
                        "x": 952.495361328125,
                        "y": 3492.025634765625,
                        "z": 370.7408142089844
                    },
                    "rotation": {
                        "roll": 0.0018628241959959269,
                        "pitch": -0.031036376953125,
                        "yaw": -80.5038833618164
                    }
                },
                "velocity": {
                    "x": 1.2379202842712402,
                    "y": -7.453000545501709,
                    "z": -0.027294214814901352
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053017616271973,
                "transform": {
                    "location": {
                        "x": 955.6204223632812,
                        "y": 3452.36767578125,
                        "z": 370.5367736816406
                    },
                    "rotation": {
                        "roll": -0.0005798402125947177,
                        "pitch": -0.2978782057762146,
                        "yaw": -80.8581314086914
                    }
                },
                "velocity": {
                    "x": 1.2794229984283447,
                    "y": -7.950628280639648,
                    "z": -0.04098784178495407
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063409805297852,
                "transform": {
                    "location": {
                        "x": 959.3744506835938,
                        "y": 3449.490966796875,
                        "z": 370.5278015136719
                    },
                    "rotation": {
                        "roll": -0.00015260069631040096,
                        "pitch": -0.29373225569725037,
                        "yaw": -80.85789489746094
                    }
                },
                "velocity": {
                    "x": 1.2810311317443848,
                    "y": -7.960894584655762,
                    "z": -0.041280411183834076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040285110473633,
                "transform": {
                    "location": {
                        "x": 962.2338256835938,
                        "y": 3411.265869140625,
                        "z": 370.2786560058594
                    },
                    "rotation": {
                        "roll": -0.0006103453342802823,
                        "pitch": -0.4307595193386078,
                        "yaw": -80.8592300415039
                    }
                },
                "velocity": {
                    "x": 1.2771377563476562,
                    "y": -7.937974452972412,
                    "z": -0.06054672226309776
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054342269897461,
                "transform": {
                    "location": {
                        "x": 966.3377685546875,
                        "y": 3406.22314453125,
                        "z": 370.239990234375
                    },
                    "rotation": {
                        "roll": 0.0005381466471590102,
                        "pitch": -0.4388123154640198,
                        "yaw": -80.87199401855469
                    }
                },
                "velocity": {
                    "x": 1.28016996383667,
                    "y": -7.951697826385498,
                    "z": -0.06402324140071869
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.1741943359375,
                        "y": 3367.76708984375,
                        "z": 369.8507385253906
                    },
                    "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": 4832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.0081176757812,
                        "y": 3364.147705078125,
                        "z": 369.8035583496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.375604629516602,
                "transform": {
                    "location": {
                        "x": 964.9164428710938,
                        "y": 3373.4482421875,
                        "z": 369.9556579589844
                    },
                    "rotation": {
                        "roll": -0.009704585187137127,
                        "pitch": 0.08673656731843948,
                        "yaw": 99.56372833251953
                    }
                },
                "velocity": {
                    "x": -1.3836990594863892,
                    "y": 8.259060859680176,
                    "z": 0.15507452189922333
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.936747550964355,
                "transform": {
                    "location": {
                        "x": 958.0302734375,
                        "y": 3415.674560546875,
                        "z": 370.352294921875
                    },
                    "rotation": {
                        "roll": -0.0005493408534675837,
                        "pitch": 0.4583398103713989,
                        "yaw": 99.1407699584961
                    }
                },
                "velocity": {
                    "x": -1.4191021919250488,
                    "y": 8.823144912719727,
                    "z": 0.0610262006521225
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.401274681091309,
                "transform": {
                    "location": {
                        "x": 955.110107421875,
                        "y": 3433.8173828125,
                        "z": 370.4408874511719
                    },
                    "rotation": {
                        "roll": 0.00021313028992153704,
                        "pitch": 0.46627649664878845,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -1.3358275890350342,
                    "y": 8.294228553771973,
                    "z": 0.05244756489992142
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.7483439445495605,
                "transform": {
                    "location": {
                        "x": 941.9647216796875,
                        "y": 3495.0478515625,
                        "z": 370.71923828125
                    },
                    "rotation": {
                        "roll": -0.0006713841576129198,
                        "pitch": 0.21287649869918823,
                        "yaw": 99.14520263671875
                    }
                },
                "velocity": {
                    "x": -1.2316842079162598,
                    "y": 7.649781227111816,
                    "z": 0.025121888145804405
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.1466674804688,
                        "y": 3513.18359375,
                        "z": 370.7803039550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.640209674835205,
                "transform": {
                    "location": {
                        "x": 960.90625,
                        "y": 3397.802490234375,
                        "z": 370.1773986816406
                    },
                    "rotation": {
                        "roll": 0.0005693353596143425,
                        "pitch": 0.41798707842826843,
                        "yaw": 99.14176177978516
                    }
                },
                "velocity": {
                    "x": -1.2139865159988403,
                    "y": 7.5428690910339355,
                    "z": 0.06454427540302277
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025066375732422,
                "transform": {
                    "location": {
                        "x": 952.2335205078125,
                        "y": 3451.68896484375,
                        "z": 370.5368347167969
                    },
                    "rotation": {
                        "roll": 0.0003683283575810492,
                        "pitch": 0.3013547658920288,
                        "yaw": 99.15540313720703
                    }
                },
                "velocity": {
                    "x": -1.2748262882232666,
                    "y": 7.923055171966553,
                    "z": 0.04121844097971916
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046957969665527,
                "transform": {
                    "location": {
                        "x": 949.2509155273438,
                        "y": 3470.225830078125,
                        "z": 370.6238708496094
                    },
                    "rotation": {
                        "roll": -0.0009155334555543959,
                        "pitch": 0.24096223711967468,
                        "yaw": 99.11834716796875
                    }
                },
                "velocity": {
                    "x": -1.277550458908081,
                    "y": 7.944830894470215,
                    "z": 0.03268918767571449
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165349006652832,
                "transform": {
                    "location": {
                        "x": 947.83203125,
                        "y": 3453.592041015625,
                        "z": 370.537109375
                    },
                    "rotation": {
                        "roll": -0.00024414091603830457,
                        "pitch": -0.025025811046361923,
                        "yaw": 99.14285278320312
                    }
                },
                "velocity": {
                    "x": -0.502772331237793,
                    "y": 3.125124216079712,
                    "z": 0.015891389921307564
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625256538391113,
                "transform": {
                    "location": {
                        "x": 949.3321533203125,
                        "y": 3444.26806640625,
                        "z": 370.4928283691406
                    },
                    "rotation": {
                        "roll": 0.0024972069077193737,
                        "pitch": 0.5276389122009277,
                        "yaw": 99.13751220703125
                    }
                },
                "velocity": {
                    "x": -0.5022963881492615,
                    "y": 3.1223323345184326,
                    "z": 0.01753516122698784
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9992710947990417,
        "expert_target_speed": 0,
        "target_point": [
            52.3146874370986,
            10.113908362830674
        ],
        "target_point_next": [
            102.56556936535164,
            18.82268958711815
        ]
    },
    "450": {
        "acceleration": [
            -0.5669793486595154,
            -4.042959213256836,
            -0.01691266894340515
        ],
        "angular_velocity": [
            -0.8281952738761902,
            1.5355207920074463,
            0.12571464478969574
        ],
        "forward_vector": [
            0.033413223922252655,
            0.9994416236877441,
            0.00016355513071175665
        ],
        "right_vector": [
            -0.9994346499443054,
            0.0334136001765728,
            -0.0037322535645216703
        ],
        "location": [
            951.8939819335938,
            3442.8759765625,
            370.4925842285156
        ],
        "rotation": [
            0.21384286880493164,
            0.009371018968522549,
            88.085205078125
        ],
        "velocity": [
            0.23958201706409454,
            7.475906848907471,
            0.0433260053396225
        ],
        "speed": 7.479744832308261,
        "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": 3.4556491374969482,
        "front_vehicle_info": {
            "id": 4808,
            "type": "vehicle.gazelle.omafiets",
            "location": [
                949.20654296875,
                3445.04833984375,
                370.49700927734375
            ],
            "velocity": [
                -0.5024464130401611,
                3.122403383255005,
                0.017084253951907158
            ],
            "speed_kmh": 11.385421694467063,
            "color": "41,73,217"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.042431354522705,
                "transform": {
                    "location": {
                        "x": 948.8250732421875,
                        "y": 3494.365478515625,
                        "z": 370.7217102050781
                    },
                    "rotation": {
                        "roll": -0.0016479513142257929,
                        "pitch": -0.07693524658679962,
                        "yaw": -80.41590118408203
                    }
                },
                "velocity": {
                    "x": 1.0054904222488403,
                    "y": -5.958149433135986,
                    "z": -0.0205785371363163
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.37720775604248,
                "transform": {
                    "location": {
                        "x": 952.8326416015625,
                        "y": 3489.994384765625,
                        "z": 370.73382568359375
                    },
                    "rotation": {
                        "roll": 0.0003983658680226654,
                        "pitch": -0.08535686880350113,
                        "yaw": -80.56132507324219
                    }
                },
                "velocity": {
                    "x": 1.3688095808029175,
                    "y": -8.264567375183105,
                    "z": -0.02988489530980587
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081830024719238,
                "transform": {
                    "location": {
                        "x": 955.9407348632812,
                        "y": 3450.376708984375,
                        "z": 370.5263671875
                    },
                    "rotation": {
                        "roll": 0.00033493718365207314,
                        "pitch": -0.29547396302223206,
                        "yaw": -80.86076354980469
                    }
                },
                "velocity": {
                    "x": 1.2835382223129272,
                    "y": -7.9791460037231445,
                    "z": -0.04162575304508209
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006978034973145,
                "transform": {
                    "location": {
                        "x": 959.6934204101562,
                        "y": 3447.5078125,
                        "z": 370.51751708984375
                    },
                    "rotation": {
                        "roll": -0.00015260069631040096,
                        "pitch": -0.29309022426605225,
                        "yaw": -80.86155700683594
                    }
                },
                "velocity": {
                    "x": 1.2716354131698608,
                    "y": -7.905250072479248,
                    "z": -0.04085433483123779
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022684097290039,
                "transform": {
                    "location": {
                        "x": 962.5528564453125,
                        "y": 3409.28369140625,
                        "z": 370.2637023925781
                    },
                    "rotation": {
                        "roll": -0.00033570252708159387,
                        "pitch": -0.42968717217445374,
                        "yaw": -80.85572052001953
                    }
                },
                "velocity": {
                    "x": 1.2749991416931152,
                    "y": -7.920494079589844,
                    "z": -0.060108158737421036
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054608345031738,
                "transform": {
                    "location": {
                        "x": 966.65771484375,
                        "y": 3404.2353515625,
                        "z": 370.22393798828125
                    },
                    "rotation": {
                        "roll": -0.0011596806580200791,
                        "pitch": -0.49145257472991943,
                        "yaw": -80.83775329589844
                    }
                },
                "velocity": {
                    "x": 1.2799487113952637,
                    "y": -7.952004909515381,
                    "z": -0.06370827555656433
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4833,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.4661254882812,
                        "y": 3365.7041015625,
                        "z": 369.8283386230469
                    },
                    "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.489665508270264,
                "transform": {
                    "location": {
                        "x": 964.6306762695312,
                        "y": 3375.129638671875,
                        "z": 369.9797058105469
                    },
                    "rotation": {
                        "roll": -0.006042479071766138,
                        "pitch": 0.3659956753253937,
                        "yaw": 99.82608032226562
                    }
                },
                "velocity": {
                    "x": -1.1154069900512695,
                    "y": 6.392551898956299,
                    "z": 0.08310350030660629
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.271269798278809,
                "transform": {
                    "location": {
                        "x": 957.6831665039062,
                        "y": 3417.83203125,
                        "z": 370.3678894042969
                    },
                    "rotation": {
                        "roll": -0.0003967323573306203,
                        "pitch": 0.3582365810871124,
                        "yaw": 99.13320922851562
                    }
                },
                "velocity": {
                    "x": -1.3135370016098022,
                    "y": 8.166111946105957,
                    "z": 0.05600115656852722
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.523340702056885,
                "transform": {
                    "location": {
                        "x": 954.79248046875,
                        "y": 3435.79052734375,
                        "z": 370.4530334472656
                    },
                    "rotation": {
                        "roll": -0.0007018877658993006,
                        "pitch": 0.2343710958957672,
                        "yaw": 99.14498901367188
                    }
                },
                "velocity": {
                    "x": -1.1956980228424072,
                    "y": 7.427567005157471,
                    "z": 0.04702901840209961
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.28262996673584,
                "transform": {
                    "location": {
                        "x": 941.6429443359375,
                        "y": 3497.046875,
                        "z": 370.72607421875
                    },
                    "rotation": {
                        "roll": -0.0002746499958448112,
                        "pitch": 0.20032261312007904,
                        "yaw": 99.14311218261719
                    }
                },
                "velocity": {
                    "x": -1.3160027265548706,
                    "y": 8.177372932434082,
                    "z": 0.02569103240966797
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.819580078125,
                        "y": 3515.216064453125,
                        "z": 370.7859191894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.255803108215332,
                "transform": {
                    "location": {
                        "x": 960.5930786132812,
                        "y": 3399.748779296875,
                        "z": 370.1943359375
                    },
                    "rotation": {
                        "roll": -0.00042725319508463144,
                        "pitch": 0.5478494167327881,
                        "yaw": 99.14202880859375
                    }
                },
                "velocity": {
                    "x": -1.311511754989624,
                    "y": 8.150668144226074,
                    "z": 0.06955593079328537
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02660846710205,
                "transform": {
                    "location": {
                        "x": 951.9147338867188,
                        "y": 3453.669677734375,
                        "z": 370.54693603515625
                    },
                    "rotation": {
                        "roll": -0.0010681516723707318,
                        "pitch": 0.29502999782562256,
                        "yaw": 99.12847137451172
                    }
                },
                "velocity": {
                    "x": -1.2752008438110352,
                    "y": 7.924567699432373,
                    "z": 0.03904586657881737
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046958923339844,
                "transform": {
                    "location": {
                        "x": 948.93115234375,
                        "y": 3472.212158203125,
                        "z": 370.6321716308594
                    },
                    "rotation": {
                        "roll": -0.0018310669111087918,
                        "pitch": 0.24042265117168427,
                        "yaw": 99.16263580322266
                    }
                },
                "velocity": {
                    "x": -1.2799104452133179,
                    "y": 7.944449424743652,
                    "z": 0.03310370445251465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649832725524902,
                "transform": {
                    "location": {
                        "x": 947.7062377929688,
                        "y": 3454.373291015625,
                        "z": 370.5408630371094
                    },
                    "rotation": {
                        "roll": 0.0011759101180359721,
                        "pitch": -0.04894513264298439,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.5031701326370239,
                    "y": 3.124699592590332,
                    "z": 0.013826847076416016
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626172065734863,
                "transform": {
                    "location": {
                        "x": 949.20654296875,
                        "y": 3445.04833984375,
                        "z": 370.49700927734375
                    },
                    "rotation": {
                        "roll": 0.000867388560436666,
                        "pitch": 0.5115879774093628,
                        "yaw": 99.13861083984375
                    }
                },
                "velocity": {
                    "x": -0.5024464130401611,
                    "y": 3.122403383255005,
                    "z": 0.017084253951907158
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0000975131988525,
        "expert_target_speed": 0,
        "target_point": [
            50.06381083927043,
            11.2240473846603
        ],
        "target_point_next": [
            100.11698490109832,
            21.00534440070528
        ]
    },
    "455": {
        "acceleration": [
            -0.560158371925354,
            -0.4693889617919922,
            0.013552308082580566
        ],
        "angular_velocity": [
            0.7542999982833862,
            0.6694260835647583,
            4.530759811401367
        ],
        "forward_vector": [
            0.019792882725596428,
            0.9998036623001099,
            -0.0009394882363267243
        ],
        "right_vector": [
            -0.9998029470443726,
            0.01979428343474865,
            0.001507347566075623
        ],
        "location": [
            951.9292602539062,
            3444.6181640625,
            370.50225830078125
        ],
        "rotation": [
            -0.08636472374200821,
            -0.05382871627807617,
            88.86587524414062
        ],
        "velocity": [
            0.05820614844560623,
            6.714637279510498,
            0.036678656935691833
        ],
        "speed": 6.714889556136349,
        "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": 11.037643432617188,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                951.5957641601562,
                3455.650634765625,
                370.5565490722656
            ],
            "velocity": [
                -1.2760978937149048,
                7.922800540924072,
                0.03681981936097145
            ],
            "speed_kmh": 28.889983165163283,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.550911903381348,
                "transform": {
                    "location": {
                        "x": 949.1150512695312,
                        "y": 3492.625,
                        "z": 370.7130126953125
                    },
                    "rotation": {
                        "roll": 0.012384949252009392,
                        "pitch": 0.22536207735538483,
                        "yaw": -80.58232116699219
                    }
                },
                "velocity": {
                    "x": 1.2295292615890503,
                    "y": -7.4500885009765625,
                    "z": -0.02668864279985428
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.824913501739502,
                "transform": {
                    "location": {
                        "x": 953.1597290039062,
                        "y": 3488.003662109375,
                        "z": 370.7275695800781
                    },
                    "rotation": {
                        "roll": 0.002497441601008177,
                        "pitch": -0.23141363263130188,
                        "yaw": -80.64897155761719
                    }
                },
                "velocity": {
                    "x": 1.2622363567352295,
                    "y": -7.722380638122559,
                    "z": -0.02946312353014946
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053070068359375,
                "transform": {
                    "location": {
                        "x": 956.2610473632812,
                        "y": 3448.38525390625,
                        "z": 370.5159606933594
                    },
                    "rotation": {
                        "roll": -0.00021363297128118575,
                        "pitch": -0.2943060100078583,
                        "yaw": -80.86283874511719
                    }
                },
                "velocity": {
                    "x": 1.2780301570892334,
                    "y": -7.950905799865723,
                    "z": -0.04090035706758499
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066033363342285,
                "transform": {
                    "location": {
                        "x": 960.0126953125,
                        "y": 3445.52392578125,
                        "z": 370.5067443847656
                    },
                    "rotation": {
                        "roll": -0.0005493314238265157,
                        "pitch": -0.31146344542503357,
                        "yaw": -80.85816192626953
                    }
                },
                "velocity": {
                    "x": 1.2814778089523315,
                    "y": -7.963456153869629,
                    "z": -0.045556724071502686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039774894714355,
                "transform": {
                    "location": {
                        "x": 962.871826171875,
                        "y": 3407.30126953125,
                        "z": 370.2488708496094
                    },
                    "rotation": {
                        "roll": 5.6764187320368364e-05,
                        "pitch": -0.42770642042160034,
                        "yaw": -80.85907745361328
                    }
                },
                "velocity": {
                    "x": 1.2772213220596313,
                    "y": -7.937448024749756,
                    "z": -0.06007799133658409
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054743766784668,
                "transform": {
                    "location": {
                        "x": 966.9776611328125,
                        "y": 3402.2470703125,
                        "z": 370.2066650390625
                    },
                    "rotation": {
                        "roll": -0.0024719536304473877,
                        "pitch": -0.4953867495059967,
                        "yaw": -80.87217712402344
                    }
                },
                "velocity": {
                    "x": 1.278689980506897,
                    "y": -7.952304363250732,
                    "z": -0.06861647218465805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.664378643035889,
                "transform": {
                    "location": {
                        "x": 964.3526611328125,
                        "y": 3376.75244140625,
                        "z": 369.99749755859375
                    },
                    "rotation": {
                        "roll": 0.01085843425244093,
                        "pitch": 0.5721102952957153,
                        "yaw": 99.72817993164062
                    }
                },
                "velocity": {
                    "x": -1.1076984405517578,
                    "y": 6.571238040924072,
                    "z": 0.07600332051515579
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.031579971313477,
                "transform": {
                    "location": {
                        "x": 957.3826293945312,
                        "y": 3419.69970703125,
                        "z": 370.3813171386719
                    },
                    "rotation": {
                        "roll": -0.00024415546795353293,
                        "pitch": 0.2793342173099518,
                        "yaw": 99.14766693115234
                    }
                },
                "velocity": {
                    "x": -1.1175493001937866,
                    "y": 6.9420342445373535,
                    "z": 0.04853716865181923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.552433729171753,
                "transform": {
                    "location": {
                        "x": 954.5505981445312,
                        "y": 3437.2939453125,
                        "z": 370.4618225097656
                    },
                    "rotation": {
                        "roll": 0.0011245048372074962,
                        "pitch": -0.32678353786468506,
                        "yaw": 99.13961029052734
                    }
                },
                "velocity": {
                    "x": -0.5643717050552368,
                    "y": 3.5072762966156006,
                    "z": 0.016794195398688316
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09971809387207,
                "transform": {
                    "location": {
                        "x": 941.3170166015625,
                        "y": 3499.07177734375,
                        "z": 370.73284912109375
                    },
                    "rotation": {
                        "roll": 0.00014182722952682525,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14228057861328
                    }
                },
                "velocity": {
                    "x": -1.2869700193405151,
                    "y": 7.996779441833496,
                    "z": 0.025716304779052734
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.5252075195312,
                        "y": 3517.045166015625,
                        "z": 370.791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.301900863647461,
                "transform": {
                    "location": {
                        "x": 960.2567138671875,
                        "y": 3401.839599609375,
                        "z": 370.2123107910156
                    },
                    "rotation": {
                        "roll": 0.0008887603762559593,
                        "pitch": 0.5117791891098022,
                        "yaw": 99.140625
                    }
                },
                "velocity": {
                    "x": -1.3187997341156006,
                    "y": 8.196175575256348,
                    "z": 0.07097306847572327
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024995803833008,
                "transform": {
                    "location": {
                        "x": 951.5957641601562,
                        "y": 3455.650634765625,
                        "z": 370.5565490722656
                    },
                    "rotation": {
                        "roll": -0.002044676337391138,
                        "pitch": 0.2655714154243469,
                        "yaw": 99.16484832763672
                    }
                },
                "velocity": {
                    "x": -1.2760978937149048,
                    "y": 7.922800540924072,
                    "z": 0.03681981936097145
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048023223876953,
                "transform": {
                    "location": {
                        "x": 948.6114501953125,
                        "y": 3474.19873046875,
                        "z": 370.6405334472656
                    },
                    "rotation": {
                        "roll": -9.15680211619474e-05,
                        "pitch": 0.23948007822036743,
                        "yaw": 99.13232421875
                    }
                },
                "velocity": {
                    "x": -1.2798488140106201,
                    "y": 7.945537567138672,
                    "z": 0.033070631325244904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165231943130493,
                "transform": {
                    "location": {
                        "x": 947.5805053710938,
                        "y": 3455.154541015625,
                        "z": 370.54437255859375
                    },
                    "rotation": {
                        "roll": 6.323929846985266e-05,
                        "pitch": -0.04574860632419586,
                        "yaw": 99.14219665527344
                    }
                },
                "velocity": {
                    "x": -0.5028098821640015,
                    "y": 3.1250085830688477,
                    "z": 0.014049319550395012
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627588272094727,
                "transform": {
                    "location": {
                        "x": 949.0809936523438,
                        "y": 3445.82861328125,
                        "z": 370.5010986328125
                    },
                    "rotation": {
                        "roll": 0.0009167228126898408,
                        "pitch": 0.5136916637420654,
                        "yaw": 99.13716888427734
                    }
                },
                "velocity": {
                    "x": -0.5021654367446899,
                    "y": 3.122591257095337,
                    "z": 0.01723797805607319
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9502007961273193,
        "expert_target_speed": 0,
        "target_point": [
            48.46953389302725,
            10.541734354174052
        ],
        "target_point_next": [
            98.65132076589333,
            19.640210667600183
        ]
    },
    "460": {
        "acceleration": [
            -0.5358015298843384,
            -2.1983718872070312,
            -0.04778861999511719
        ],
        "angular_velocity": [
            0.34373313188552856,
            0.23061491549015045,
            4.259519577026367
        ],
        "forward_vector": [
            0.0006484524928964674,
            0.9999963045120239,
            -0.002624270273372531
        ],
        "right_vector": [
            -0.9999954104423523,
            0.0006562054040841758,
            0.0029544958379119635
        ],
        "location": [
            951.9281616210938,
            3446.135009765625,
            370.51068115234375
        ],
        "rotation": [
            -0.1692809760570526,
            -0.15035977959632874,
            89.96284484863281
        ],
        "velocity": [
            -0.07634448260068893,
            5.571624755859375,
            0.028545141220092773
        ],
        "speed": 5.572147781612455,
        "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": 11.514411926269531,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                951.2769165039062,
                3457.630859375,
                370.56549072265625
            ],
            "velocity": [
                -1.2752183675765991,
                7.922893524169922,
                0.03652727231383324
            ],
            "speed_kmh": 28.889805514551597,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.723669052124023,
                "transform": {
                    "location": {
                        "x": 949.4512939453125,
                        "y": 3490.5849609375,
                        "z": 370.70654296875
                    },
                    "rotation": {
                        "roll": 0.004477973096072674,
                        "pitch": 0.10382570326328278,
                        "yaw": -80.66067504882812
                    }
                },
                "velocity": {
                    "x": 1.4135022163391113,
                    "y": -8.608332633972168,
                    "z": -0.03186232969164848
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.066883087158203,
                "transform": {
                    "location": {
                        "x": 953.477783203125,
                        "y": 3486.058349609375,
                        "z": 370.7198486328125
                    },
                    "rotation": {
                        "roll": 0.0018704511458054185,
                        "pitch": -0.21655113995075226,
                        "yaw": -80.73919677734375
                    }
                },
                "velocity": {
                    "x": 1.2968207597732544,
                    "y": -7.961904048919678,
                    "z": -0.03062758408486843
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084115028381348,
                "transform": {
                    "location": {
                        "x": 956.5813598632812,
                        "y": 3446.3935546875,
                        "z": 370.5055847167969
                    },
                    "rotation": {
                        "roll": 0.00030480121495202184,
                        "pitch": -0.29541248083114624,
                        "yaw": -80.86481475830078
                    }
                },
                "velocity": {
                    "x": 1.2834488153457642,
                    "y": -7.981470584869385,
                    "z": -0.042542777955532074
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005348205566406,
                "transform": {
                    "location": {
                        "x": 960.331787109375,
                        "y": 3443.541259765625,
                        "z": 370.4955139160156
                    },
                    "rotation": {
                        "roll": 0.001797650707885623,
                        "pitch": -0.33312880992889404,
                        "yaw": -80.85980987548828
                    }
                },
                "velocity": {
                    "x": 1.2701094150543213,
                    "y": -7.903822422027588,
                    "z": -0.044889893382787704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025114059448242,
                "transform": {
                    "location": {
                        "x": 963.1908569335938,
                        "y": 3405.319091796875,
                        "z": 370.23358154296875
                    },
                    "rotation": {
                        "roll": -6.104666681494564e-05,
                        "pitch": -0.44693341851234436,
                        "yaw": -80.85887908935547
                    }
                },
                "velocity": {
                    "x": 1.2748799324035645,
                    "y": -7.922938823699951,
                    "z": -0.0646594986319542
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053732872009277,
                "transform": {
                    "location": {
                        "x": 967.2974853515625,
                        "y": 3400.259033203125,
                        "z": 370.18939208984375
                    },
                    "rotation": {
                        "roll": -0.00143433955963701,
                        "pitch": -0.4937748312950134,
                        "yaw": -80.84428405761719
                    }
                },
                "velocity": {
                    "x": 1.278984785079956,
                    "y": -7.951234340667725,
                    "z": -0.06847412139177322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.094901084899902,
                "transform": {
                    "location": {
                        "x": 964.1141967773438,
                        "y": 3378.1650390625,
                        "z": 370.01409912109375
                    },
                    "rotation": {
                        "roll": 0.006951982621103525,
                        "pitch": 0.4994780421257019,
                        "yaw": 99.65926361083984
                    }
                },
                "velocity": {
                    "x": -0.8447895646095276,
                    "y": 5.024053573608398,
                    "z": 0.05687598139047623
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.542849063873291,
                "transform": {
                    "location": {
                        "x": 957.1409301757812,
                        "y": 3421.19140625,
                        "z": 370.3918762207031
                    },
                    "rotation": {
                        "roll": -0.002044673776254058,
                        "pitch": 0.24904917180538177,
                        "yaw": 98.95975494384766
                    }
                },
                "velocity": {
                    "x": -0.878753662109375,
                    "y": 5.472628593444824,
                    "z": 0.03610047325491905
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.011707710102200508,
                "transform": {
                    "location": {
                        "x": 954.5156860351562,
                        "y": 3437.5107421875,
                        "z": 370.462890625
                    },
                    "rotation": {
                        "roll": 7.13455374352634e-05,
                        "pitch": -0.43728917837142944,
                        "yaw": 99.13895416259766
                    }
                },
                "velocity": {
                    "x": 0.001691645011305809,
                    "y": -0.01153771486133337,
                    "z": 0.0010440079495310783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.029486656188965,
                "transform": {
                    "location": {
                        "x": 940.997314453125,
                        "y": 3501.058349609375,
                        "z": 370.73931884765625
                    },
                    "rotation": {
                        "roll": -0.0004882876528427005,
                        "pitch": 0.18347252905368805,
                        "yaw": 99.14240264892578
                    }
                },
                "velocity": {
                    "x": -1.2757718563079834,
                    "y": 7.92744779586792,
                    "z": 0.025166643783450127
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.2628173828125,
                        "y": 3518.676513671875,
                        "z": 370.7955322265625
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.114054203033447,
                "transform": {
                    "location": {
                        "x": 959.9515991210938,
                        "y": 3403.736083984375,
                        "z": 370.2283020019531
                    },
                    "rotation": {
                        "roll": 0.0002877400547731668,
                        "pitch": 0.3383197486400604,
                        "yaw": 99.13320922851562
                    }
                },
                "velocity": {
                    "x": -1.1294276714324951,
                    "y": 7.023592472076416,
                    "z": 0.057490184903144836
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024946212768555,
                "transform": {
                    "location": {
                        "x": 951.2769165039062,
                        "y": 3457.630859375,
                        "z": 370.56549072265625
                    },
                    "rotation": {
                        "roll": -0.0001220775448018685,
                        "pitch": 0.2607766091823578,
                        "yaw": 99.13031768798828
                    }
                },
                "velocity": {
                    "x": -1.2752183675765991,
                    "y": 7.922893524169922,
                    "z": 0.03652727231383324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047435760498047,
                "transform": {
                    "location": {
                        "x": 948.2915649414062,
                        "y": 3476.184814453125,
                        "z": 370.64892578125
                    },
                    "rotation": {
                        "roll": 1.3994004802952986e-05,
                        "pitch": 0.2401357740163803,
                        "yaw": 99.16719818115234
                    }
                },
                "velocity": {
                    "x": -1.2797378301620483,
                    "y": 7.94495964050293,
                    "z": 0.03329791873693466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652214527130127,
                "transform": {
                    "location": {
                        "x": 947.454833984375,
                        "y": 3455.935791015625,
                        "z": 370.5478820800781
                    },
                    "rotation": {
                        "roll": 0.0004529253928922117,
                        "pitch": -0.04684143513441086,
                        "yaw": 99.1430435180664
                    }
                },
                "velocity": {
                    "x": -0.5030800700187683,
                    "y": 3.1249589920043945,
                    "z": 0.012994365766644478
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626362800598145,
                "transform": {
                    "location": {
                        "x": 948.9554443359375,
                        "y": 3446.60888671875,
                        "z": 370.5051574707031
                    },
                    "rotation": {
                        "roll": 0.00010371099051553756,
                        "pitch": 0.5139512419700623,
                        "yaw": 99.1365737915039
                    }
                },
                "velocity": {
                    "x": -0.5019503831863403,
                    "y": 3.122502565383911,
                    "z": 0.017102373763918877
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8245218396186829,
        "expert_target_speed": 6.599454026756925,
        "target_point": [
            47.14522874789805,
            9.611723910235444
        ],
        "target_point_next": [
            97.4916712276894,
            17.74988921998372
        ]
    },
    "465": {
        "acceleration": [
            -0.14441132545471191,
            -0.6438446044921875,
            -0.006597153842449188
        ],
        "angular_velocity": [
            0.8388044238090515,
            -0.1699352264404297,
            3.4983246326446533
        ],
        "forward_vector": [
            -0.01661764830350876,
            0.9998618364334106,
            0.0003778934187721461
        ],
        "right_vector": [
            -0.999857485294342,
            -0.016618700698018074,
            0.002974213333800435
        ],
        "location": [
            951.9013061523438,
            3447.47265625,
            370.51690673828125
        ],
        "rotation": [
            -0.1704101413488388,
            0.021651698276400566,
            90.95216369628906
        ],
        "velocity": [
            -0.15797829627990723,
            5.239290714263916,
            0.02591964602470398
        ],
        "speed": 5.241671902233828,
        "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": 12.17612075805664,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                950.9581909179688,
                3459.612060546875,
                370.5744323730469
            ],
            "velocity": [
                -1.2755262851715088,
                7.924929141998291,
                0.03645895794034004
            ],
            "speed_kmh": 28.897215577153933,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.089111328125,
                        "y": 3525.195556640625,
                        "z": 370.9429931640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.15530483424663544,
                        "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": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.232519149780273,
                "transform": {
                    "location": {
                        "x": 949.7933959960938,
                        "y": 3488.499267578125,
                        "z": 370.7019348144531
                    },
                    "rotation": {
                        "roll": 0.004489107523113489,
                        "pitch": -0.2941625714302063,
                        "yaw": -80.70142364501953
                    }
                },
                "velocity": {
                    "x": 1.3257354497909546,
                    "y": -8.125017166137695,
                    "z": -0.029920004308223724
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.103279113769531,
                "transform": {
                    "location": {
                        "x": 953.8052368164062,
                        "y": 3484.047119140625,
                        "z": 370.7117919921875
                    },
                    "rotation": {
                        "roll": 0.0018939641304314137,
                        "pitch": -0.2207653671503067,
                        "yaw": -80.74300384521484
                    }
                },
                "velocity": {
                    "x": 1.2976009845733643,
                    "y": -7.9986443519592285,
                    "z": -0.032604992389678955
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051535606384277,
                "transform": {
                    "location": {
                        "x": 956.9015502929688,
                        "y": 3444.40283203125,
                        "z": 370.4945983886719
                    },
                    "rotation": {
                        "roll": 0.0005848308792337775,
                        "pitch": -0.32385340332984924,
                        "yaw": -80.86481475830078
                    }
                },
                "velocity": {
                    "x": 1.2782918214797974,
                    "y": -7.949286460876465,
                    "z": -0.045166220515966415
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06605339050293,
                "transform": {
                    "location": {
                        "x": 960.6510009765625,
                        "y": 3441.557373046875,
                        "z": 370.48382568359375
                    },
                    "rotation": {
                        "roll": 0.001844128710217774,
                        "pitch": -0.33193352818489075,
                        "yaw": -80.85753631591797
                    }
                },
                "velocity": {
                    "x": 1.281609058380127,
                    "y": -7.9634528160095215,
                    "z": -0.045956939458847046
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039189338684082,
                "transform": {
                    "location": {
                        "x": 963.5098266601562,
                        "y": 3403.3369140625,
                        "z": 370.2174987792969
                    },
                    "rotation": {
                        "roll": 0.0007066846010275185,
                        "pitch": -0.4994507133960724,
                        "yaw": -80.85555267333984
                    }
                },
                "velocity": {
                    "x": 1.2776366472244263,
                    "y": -7.936742782592773,
                    "z": -0.06574903428554535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055403709411621,
                "transform": {
                    "location": {
                        "x": 967.6171875,
                        "y": 3398.2705078125,
                        "z": 370.17218017578125
                    },
                    "rotation": {
                        "roll": -0.0002746851241681725,
                        "pitch": -0.4927639663219452,
                        "yaw": -80.87437438964844
                    }
                },
                "velocity": {
                    "x": 1.2798821926116943,
                    "y": -7.952785968780518,
                    "z": -0.06803495436906815
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.200109004974365,
                "transform": {
                    "location": {
                        "x": 963.9041748046875,
                        "y": 3379.413330078125,
                        "z": 370.0271301269531
                    },
                    "rotation": {
                        "roll": 0.005763158202171326,
                        "pitch": 0.6035701036453247,
                        "yaw": 99.60777282714844
                    }
                },
                "velocity": {
                    "x": -0.8599085807800293,
                    "y": 5.128196716308594,
                    "z": 0.0573396272957325
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.744207859039307,
                "transform": {
                    "location": {
                        "x": 956.9214477539062,
                        "y": 3422.562744140625,
                        "z": 370.4002380371094
                    },
                    "rotation": {
                        "roll": -0.0010071003343909979,
                        "pitch": 0.3706948459148407,
                        "yaw": 99.0724105834961
                    }
                },
                "velocity": {
                    "x": -0.9125729203224182,
                    "y": 5.671125888824463,
                    "z": 0.03823229670524597
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0041755917482078075,
                "transform": {
                    "location": {
                        "x": 954.5150756835938,
                        "y": 3437.514404296875,
                        "z": 370.4631042480469
                    },
                    "rotation": {
                        "roll": -0.000549325137399137,
                        "pitch": 0.14906887710094452,
                        "yaw": 99.13890075683594
                    }
                },
                "velocity": {
                    "x": 0.0007622462580911815,
                    "y": -0.0036326267290860415,
                    "z": 0.0019127381965517998
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.987880706787109,
                "transform": {
                    "location": {
                        "x": 940.6788330078125,
                        "y": 3503.037841796875,
                        "z": 370.74554443359375
                    },
                    "rotation": {
                        "roll": -0.0006103573832660913,
                        "pitch": 0.1691974401473999,
                        "yaw": 99.14225006103516
                    }
                },
                "velocity": {
                    "x": -1.2691528797149658,
                    "y": 7.8863725662231445,
                    "z": 0.024743909016251564
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.0441284179688,
                        "y": 3520.0341796875,
                        "z": 370.7992858886719
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.732328414916992,
                "transform": {
                    "location": {
                        "x": 959.721435546875,
                        "y": 3405.169189453125,
                        "z": 370.2392578125
                    },
                    "rotation": {
                        "roll": -0.004119873046875,
                        "pitch": 0.0002868679293897003,
                        "yaw": 98.82889556884766
                    }
                },
                "velocity": {
                    "x": -0.593856930732727,
                    "y": 3.6846799850463867,
                    "z": 0.0272506233304739
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02700424194336,
                "transform": {
                    "location": {
                        "x": 950.9581909179688,
                        "y": 3459.612060546875,
                        "z": 370.5744323730469
                    },
                    "rotation": {
                        "roll": -0.00021361905965022743,
                        "pitch": 0.2625387907028198,
                        "yaw": 99.15714263916016
                    }
                },
                "velocity": {
                    "x": -1.2755262851715088,
                    "y": 7.924929141998291,
                    "z": 0.03645895794034004
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0481595993042,
                "transform": {
                    "location": {
                        "x": 947.9718017578125,
                        "y": 3478.171142578125,
                        "z": 370.65716552734375
                    },
                    "rotation": {
                        "roll": -0.001129165175370872,
                        "pitch": 0.23589423298835754,
                        "yaw": 99.13017272949219
                    }
                },
                "velocity": {
                    "x": -1.2795418500900269,
                    "y": 7.945724964141846,
                    "z": 0.033260755240917206
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652300357818604,
                "transform": {
                    "location": {
                        "x": 947.3290405273438,
                        "y": 3456.717041015625,
                        "z": 370.5514221191406
                    },
                    "rotation": {
                        "roll": -0.0008239768794737756,
                        "pitch": -0.04662969708442688,
                        "yaw": 99.14220428466797
                    }
                },
                "velocity": {
                    "x": -0.5028784275054932,
                    "y": 3.124995470046997,
                    "z": 0.014050664380192757
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626245975494385,
                "transform": {
                    "location": {
                        "x": 948.8298950195312,
                        "y": 3447.389404296875,
                        "z": 370.5091857910156
                    },
                    "rotation": {
                        "roll": -0.0008239780436269939,
                        "pitch": 0.5140741467475891,
                        "yaw": 99.1364517211914
                    }
                },
                "velocity": {
                    "x": -0.50211101770401,
                    "y": 3.122462511062622,
                    "z": 0.017515020444989204
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6657900810241699,
        "expert_target_speed": 6.300896700025151,
        "target_point": [
            45.96660020625024,
            8.789765743618887
        ],
        "target_point_next": [
            96.44634145912424,
            16.055419741892
        ]
    },
    "470": {
        "acceleration": [
            -0.34700125455856323,
            6.93202018737793,
            0.05052853375673294
        ],
        "angular_velocity": [
            2.4698705673217773,
            -0.13089826703071594,
            2.3690216541290283
        ],
        "forward_vector": [
            -0.029404783621430397,
            0.9995489120483398,
            0.006105862092226744
        ],
        "right_vector": [
            -0.9995644092559814,
            -0.02941962145268917,
            0.002354188822209835
        ],
        "location": [
            951.856689453125,
            3448.82421875,
            370.5224609375
        ],
        "rotation": [
            -0.1348877251148224,
            0.34984228014945984,
            91.68504333496094
        ],
        "velocity": [
            -0.22672587633132935,
            5.926293849945068,
            0.02973131090402603
        ],
        "speed": 5.9306292599432435,
        "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": 12.82685375213623,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                950.6392211914062,
                3461.593017578125,
                370.58343505859375
            ],
            "velocity": [
                -1.2753336429595947,
                7.9227824211120605,
                0.03651551157236099
            ],
            "speed_kmh": 28.88947638607336,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.305419921875,
                        "y": 3528.25146484375,
                        "z": 371.0689697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.14107754826545715,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.418701171875,
                        "y": 3523.146728515625,
                        "z": 370.840576171875
                    },
                    "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": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.8915557861328125,
                "transform": {
                    "location": {
                        "x": 950.1158447265625,
                        "y": 3486.520751953125,
                        "z": 370.69482421875
                    },
                    "rotation": {
                        "roll": 0.004338920582085848,
                        "pitch": -0.35488978028297424,
                        "yaw": -80.76049041748047
                    }
                },
                "velocity": {
                    "x": 1.2653154134750366,
                    "y": -7.789400577545166,
                    "z": -0.029393911361694336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9387311935424805,
                "transform": {
                    "location": {
                        "x": 954.1250610351562,
                        "y": 3482.075927734375,
                        "z": 370.7040100097656
                    },
                    "rotation": {
                        "roll": 0.0003934730193577707,
                        "pitch": -0.2404158115386963,
                        "yaw": -80.8078842163086
                    }
                },
                "velocity": {
                    "x": 1.2670350074768066,
                    "y": -7.8368988037109375,
                    "z": -0.03304436057806015
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08554458618164,
                "transform": {
                    "location": {
                        "x": 957.2218017578125,
                        "y": 3442.4111328125,
                        "z": 370.4831237792969
                    },
                    "rotation": {
                        "roll": 0.001159964594990015,
                        "pitch": -0.33541691303253174,
                        "yaw": -80.86280059814453
                    }
                },
                "velocity": {
                    "x": 1.284106731414795,
                    "y": -7.982790946960449,
                    "z": -0.04636489599943161
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006071090698242,
                "transform": {
                    "location": {
                        "x": 960.97021484375,
                        "y": 3439.57421875,
                        "z": 370.47216796875
                    },
                    "rotation": {
                        "roll": 0.0009960769675672054,
                        "pitch": -0.3308680057525635,
                        "yaw": -80.85740661621094
                    }
                },
                "velocity": {
                    "x": 1.2720345258712769,
                    "y": -7.904240131378174,
                    "z": -0.045730020850896835
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02405071258545,
                "transform": {
                    "location": {
                        "x": 963.828857421875,
                        "y": 3401.3544921875,
                        "z": 370.20025634765625
                    },
                    "rotation": {
                        "roll": 7.857686432544142e-05,
                        "pitch": -0.5019232630729675,
                        "yaw": -80.85567474365234
                    }
                },
                "velocity": {
                    "x": 1.275138258934021,
                    "y": -7.921789169311523,
                    "z": -0.06832434237003326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054910659790039,
                "transform": {
                    "location": {
                        "x": 967.937255859375,
                        "y": 3396.28271484375,
                        "z": 370.15435791015625
                    },
                    "rotation": {
                        "roll": 7.961765368236229e-05,
                        "pitch": -0.5188552737236023,
                        "yaw": -80.83490753173828
                    }
                },
                "velocity": {
                    "x": 1.280312418937683,
                    "y": -7.9521684646606445,
                    "z": -0.0734957903623581
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.416104316711426,
                "transform": {
                    "location": {
                        "x": 963.6742553710938,
                        "y": 3380.78369140625,
                        "z": 370.0414123535156
                    },
                    "rotation": {
                        "roll": 0.008524682372808456,
                        "pitch": 0.7128463387489319,
                        "yaw": 99.50994110107422
                    }
                },
                "velocity": {
                    "x": -1.0431005954742432,
                    "y": 6.330355644226074,
                    "z": 0.07023067027330399
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.330931663513184,
                "transform": {
                    "location": {
                        "x": 956.6736450195312,
                        "y": 3424.100830078125,
                        "z": 370.40936279296875
                    },
                    "rotation": {
                        "roll": -0.001922593335621059,
                        "pitch": 0.52863609790802,
                        "yaw": 99.02680206298828
                    }
                },
                "velocity": {
                    "x": -1.1644275188446045,
                    "y": 7.237696170806885,
                    "z": 0.04920962080359459
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.05381714180111885,
                "transform": {
                    "location": {
                        "x": 954.5142822265625,
                        "y": 3437.51953125,
                        "z": 370.4632263183594
                    },
                    "rotation": {
                        "roll": 0.0004179414245299995,
                        "pitch": 0.30477669835090637,
                        "yaw": 99.13890075683594
                    }
                },
                "velocity": {
                    "x": -0.00848918966948986,
                    "y": 0.05313458293676376,
                    "z": 0.0009667396079748869
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.058665752410889,
                "transform": {
                    "location": {
                        "x": 940.3792114257812,
                        "y": 3504.8994140625,
                        "z": 370.75128173828125
                    },
                    "rotation": {
                        "roll": -0.0009155284496955574,
                        "pitch": 0.14717690646648407,
                        "yaw": 99.14205169677734
                    }
                },
                "velocity": {
                    "x": -1.1214817762374878,
                    "y": 6.968974590301514,
                    "z": 0.020895548164844513
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 937.8324584960938,
                        "y": 3521.349365234375,
                        "z": 370.8028869628906
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.35315465927124,
                "transform": {
                    "location": {
                        "x": 959.5672607421875,
                        "y": 3406.13525390625,
                        "z": 370.24725341796875
                    },
                    "rotation": {
                        "roll": -0.001739499974064529,
                        "pitch": 0.33483633399009705,
                        "yaw": 98.93091583251953
                    }
                },
                "velocity": {
                    "x": -0.6855486631393433,
                    "y": 4.298707008361816,
                    "z": 0.033158112317323685
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02485466003418,
                "transform": {
                    "location": {
                        "x": 950.6392211914062,
                        "y": 3461.593017578125,
                        "z": 370.58343505859375
                    },
                    "rotation": {
                        "roll": -0.0003967154480051249,
                        "pitch": 0.2632969617843628,
                        "yaw": 99.13055419921875
                    }
                },
                "velocity": {
                    "x": -1.2753336429595947,
                    "y": 7.9227824211120605,
                    "z": 0.03651551157236099
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047049522399902,
                "transform": {
                    "location": {
                        "x": 947.6521606445312,
                        "y": 3480.157470703125,
                        "z": 370.66534423828125
                    },
                    "rotation": {
                        "roll": 6.155222945380956e-05,
                        "pitch": 0.22886596620082855,
                        "yaw": 99.15872955322266
                    }
                },
                "velocity": {
                    "x": -1.278401494026184,
                    "y": 7.944788455963135,
                    "z": 0.03223711997270584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652636528015137,
                "transform": {
                    "location": {
                        "x": 947.2033081054688,
                        "y": 3457.498291015625,
                        "z": 370.5549621582031
                    },
                    "rotation": {
                        "roll": -0.00027465837774798274,
                        "pitch": -0.04623354971408844,
                        "yaw": 99.14290618896484
                    }
                },
                "velocity": {
                    "x": -0.5029040575027466,
                    "y": 3.1250200271606445,
                    "z": 0.015225953422486782
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162719249725342,
                "transform": {
                    "location": {
                        "x": 948.704345703125,
                        "y": 3448.169189453125,
                        "z": 370.51324462890625
                    },
                    "rotation": {
                        "roll": -0.0002136120747309178,
                        "pitch": 0.5139443874359131,
                        "yaw": 99.13529205322266
                    }
                },
                "velocity": {
                    "x": -0.5019348859786987,
                    "y": 3.122586488723755,
                    "z": 0.01753094606101513
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5768769383430481,
        "expert_target_speed": 6.917338345811785,
        "target_point": [
            44.72299762038185,
            8.196132841077937
        ],
        "target_point_next": [
            95.29155870791982,
            14.815395225639485
        ]
    },
    "475": {
        "acceleration": [
            -0.40082812309265137,
            3.917570114135742,
            0.023845285177230835
        ],
        "angular_velocity": [
            0.5126988291740417,
            0.05135249346494675,
            1.9570817947387695
        ],
        "forward_vector": [
            -0.039186857640743256,
            0.9991620182991028,
            0.011817418038845062
        ],
        "right_vector": [
            -0.9992283582687378,
            -0.039215706288814545,
            0.002219321671873331
        ],
        "location": [
            951.7900390625,
            3450.4697265625,
            370.5296325683594
        ],
        "rotation": [
            -0.1271667629480362,
            0.6771039366722107,
            92.2459716796875
        ],
        "velocity": [
            -0.3234846889972687,
            7.084600448608398,
            0.034909866750240326
        ],
        "speed": 7.091981800627944,
        "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": 13.185796737670898,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                950.3206176757812,
                3463.5732421875,
                370.59228515625
            ],
            "velocity": [
                -1.2751061916351318,
                7.923869609832764,
                0.03542347997426987
            ],
            "speed_kmh": 28.89319276933552,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.6358642578125,
                        "y": 3526.197998046875,
                        "z": 370.9415588378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.15530483424663544,
                        "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": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.749755859375,
                        "y": 3521.089599609375,
                        "z": 370.8133850097656
                    },
                    "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": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091354370117188,
                "transform": {
                    "location": {
                        "x": 950.4353637695312,
                        "y": 3484.552978515625,
                        "z": 370.68585205078125
                    },
                    "rotation": {
                        "roll": 0.0013415272114798427,
                        "pitch": -0.20785631239414215,
                        "yaw": -80.79268646240234
                    }
                },
                "velocity": {
                    "x": 1.2938648462295532,
                    "y": -7.98717737197876,
                    "z": -0.030523404479026794
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.080770492553711,
                "transform": {
                    "location": {
                        "x": 954.44482421875,
                        "y": 3480.0986328125,
                        "z": 370.69580078125
                    },
                    "rotation": {
                        "roll": -0.0007934550521895289,
                        "pitch": -0.2212776243686676,
                        "yaw": -80.79698944091797
                    }
                },
                "velocity": {
                    "x": 1.2902616262435913,
                    "y": -7.977028846740723,
                    "z": -0.03302710875868797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050895690917969,
                "transform": {
                    "location": {
                        "x": 957.542236328125,
                        "y": 3440.419921875,
                        "z": 370.4714050292969
                    },
                    "rotation": {
                        "roll": -0.0002746529062278569,
                        "pitch": -0.3323979675769806,
                        "yaw": -80.85737609863281
                    }
                },
                "velocity": {
                    "x": 1.2786650657653809,
                    "y": -7.9485764503479,
                    "z": -0.045474156737327576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065096855163574,
                "transform": {
                    "location": {
                        "x": 961.2892456054688,
                        "y": 3437.590576171875,
                        "z": 370.4605407714844
                    },
                    "rotation": {
                        "roll": -0.00015258790517691523,
                        "pitch": -0.331783264875412,
                        "yaw": -80.8622055053711
                    }
                },
                "velocity": {
                    "x": 1.2790180444717407,
                    "y": -7.962904930114746,
                    "z": -0.04519734904170036
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039811134338379,
                "transform": {
                    "location": {
                        "x": 964.14794921875,
                        "y": 3399.3720703125,
                        "z": 370.1829528808594
                    },
                    "rotation": {
                        "roll": 0.0014265497447922826,
                        "pitch": -0.498958945274353,
                        "yaw": -80.85859680175781
                    }
                },
                "velocity": {
                    "x": 1.277179479598999,
                    "y": -7.937425136566162,
                    "z": -0.0682748332619667
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056686401367188,
                "transform": {
                    "location": {
                        "x": 968.2571411132812,
                        "y": 3394.294921875,
                        "z": 370.13592529296875
                    },
                    "rotation": {
                        "roll": -0.0002136406401405111,
                        "pitch": -0.5673564672470093,
                        "yaw": -80.86972045898438
                    }
                },
                "velocity": {
                    "x": 1.2806354761123657,
                    "y": -7.953883647918701,
                    "z": -0.07684919238090515
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.389313697814941,
                "transform": {
                    "location": {
                        "x": 963.3652954101562,
                        "y": 3382.656494140625,
                        "z": 370.0611877441406
                    },
                    "rotation": {
                        "roll": 0.006706601940095425,
                        "pitch": 0.8223000764846802,
                        "yaw": 99.37403869628906
                    }
                },
                "velocity": {
                    "x": -1.3580269813537598,
                    "y": 8.27816390991211,
                    "z": 0.09131688624620438
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.873246192932129,
                "transform": {
                    "location": {
                        "x": 956.3599853515625,
                        "y": 3426.056884765625,
                        "z": 370.4228820800781
                    },
                    "rotation": {
                        "roll": -0.0001831137778935954,
                        "pitch": 0.4647328853607178,
                        "yaw": 99.12278747558594
                    }
                },
                "velocity": {
                    "x": -1.251097559928894,
                    "y": 7.773028373718262,
                    "z": 0.05281798169016838
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7639535665512085,
                "transform": {
                    "location": {
                        "x": 954.4995727539062,
                        "y": 3437.61181640625,
                        "z": 370.4638671875
                    },
                    "rotation": {
                        "roll": 0.0006154686561785638,
                        "pitch": 0.4375828802585602,
                        "yaw": 99.15489959716797
                    }
                },
                "velocity": {
                    "x": -0.12048296630382538,
                    "y": 0.7543845176696777,
                    "z": 0.0035783862695097923
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.552810192108154,
                "transform": {
                    "location": {
                        "x": 940.133544921875,
                        "y": 3506.42529296875,
                        "z": 370.755859375
                    },
                    "rotation": {
                        "roll": -0.0001220699559780769,
                        "pitch": 0.13488256931304932,
                        "yaw": 99.14669799804688
                    }
                },
                "velocity": {
                    "x": -0.883446455001831,
                    "y": 5.482056140899658,
                    "z": 0.016862716525793076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 937.5863037109375,
                        "y": 3522.880126953125,
                        "z": 370.80718994140625
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.325723171234131,
                "transform": {
                    "location": {
                        "x": 959.3703002929688,
                        "y": 3407.365478515625,
                        "z": 370.2569885253906
                    },
                    "rotation": {
                        "roll": -0.002929688198491931,
                        "pitch": 0.5276799201965332,
                        "yaw": 99.04790496826172
                    }
                },
                "velocity": {
                    "x": -0.8428555727005005,
                    "y": 5.258449077606201,
                    "z": 0.040397193282842636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025886535644531,
                "transform": {
                    "location": {
                        "x": 950.3206176757812,
                        "y": 3463.5732421875,
                        "z": 370.59228515625
                    },
                    "rotation": {
                        "roll": 0.00033089399221353233,
                        "pitch": 0.25822895765304565,
                        "yaw": 99.1543197631836
                    }
                },
                "velocity": {
                    "x": -1.2751061916351318,
                    "y": 7.923869609832764,
                    "z": 0.03542347997426987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047073364257812,
                "transform": {
                    "location": {
                        "x": 947.3324584960938,
                        "y": 3482.1435546875,
                        "z": 370.67327880859375
                    },
                    "rotation": {
                        "roll": 0.0006629738491028547,
                        "pitch": 0.2295626401901245,
                        "yaw": 99.13005065917969
                    }
                },
                "velocity": {
                    "x": -1.279150366783142,
                    "y": 7.944690227508545,
                    "z": 0.032604921609163284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1653311252593994,
                "transform": {
                    "location": {
                        "x": 947.07763671875,
                        "y": 3458.279541015625,
                        "z": 370.5585021972656
                    },
                    "rotation": {
                        "roll": 0.001245856168679893,
                        "pitch": -0.04613792523741722,
                        "yaw": 99.1433334350586
                    }
                },
                "velocity": {
                    "x": -0.5031973719596863,
                    "y": 3.1250481605529785,
                    "z": 0.013684939593076706
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626977920532227,
                "transform": {
                    "location": {
                        "x": 948.578857421875,
                        "y": 3448.94970703125,
                        "z": 370.5173034667969
                    },
                    "rotation": {
                        "roll": -9.15442215045914e-05,
                        "pitch": 0.5140126943588257,
                        "yaw": 99.13462829589844
                    }
                },
                "velocity": {
                    "x": -0.502074658870697,
                    "y": 3.122542381286621,
                    "z": 0.017531147226691246
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3627276122570038,
        "expert_target_speed": 7.900338968706133,
        "target_point": [
            43.154244514833316,
            7.755757952626804
        ],
        "target_point_next": [
            93.78518931157421,
            13.879599391552665
        ]
    },
    "480": {
        "acceleration": [
            -0.7599472999572754,
            4.547672271728516,
            0.022654682397842407
        ],
        "angular_velocity": [
            0.1853630244731903,
            0.20626503229141235,
            3.3745248317718506
        ],
        "forward_vector": [
            -0.05144359543919563,
            0.9985910058021545,
            0.013022531755268574
        ],
        "right_vector": [
            -0.9986697435379028,
            -0.05148490518331528,
            0.002856792416423559
        ],
        "location": [
            951.6926879882812,
            3452.37841796875,
            370.5390625
        ],
        "rotation": [
            -0.1636962592601776,
            0.746157169342041,
            92.94905090332031
        ],
        "velocity": [
            -0.47864195704460144,
            8.14503288269043,
            0.04122073948383331
        ],
        "speed": 8.159084432897593,
        "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": 13.284710884094238,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                950.0017700195312,
                3465.554931640625,
                370.6009826660156
            ],
            "velocity": [
                -1.2751483917236328,
                7.924183368682861,
                0.032917898148298264
            ],
            "speed_kmh": 28.894293677818002,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.9664916992188,
                        "y": 3524.144287109375,
                        "z": 370.814208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.15530483424663544,
                        "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": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.684594631195068,
                "transform": {
                    "location": {
                        "x": 948.0452880859375,
                        "y": 3519.31298828125,
                        "z": 370.7890930175781
                    },
                    "rotation": {
                        "roll": -0.016662582755088806,
                        "pitch": -0.23221275210380554,
                        "yaw": -80.50548553466797
                    }
                },
                "velocity": {
                    "x": 1.166878581047058,
                    "y": -6.581650257110596,
                    "z": -0.06386847048997879
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.13758373260498,
                "transform": {
                    "location": {
                        "x": 950.7606201171875,
                        "y": 3482.54248046875,
                        "z": 370.6776123046875
                    },
                    "rotation": {
                        "roll": 0.0020814170129597187,
                        "pitch": -0.18102732300758362,
                        "yaw": -80.81910705566406
                    }
                },
                "velocity": {
                    "x": 1.2981687784194946,
                    "y": -8.033302307128906,
                    "z": -0.03292730078101158
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028205871582031,
                "transform": {
                    "location": {
                        "x": 954.7665405273438,
                        "y": 3478.107666015625,
                        "z": 370.68768310546875
                    },
                    "rotation": {
                        "roll": 0.001115785213187337,
                        "pitch": -0.24008113145828247,
                        "yaw": -80.84282684326172
                    }
                },
                "velocity": {
                    "x": 1.279302954673767,
                    "y": -7.925553798675537,
                    "z": -0.03270571678876877
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084649085998535,
                "transform": {
                    "location": {
                        "x": 957.8627319335938,
                        "y": 3438.428466796875,
                        "z": 370.4596252441406
                    },
                    "rotation": {
                        "roll": -0.0005493324715644121,
                        "pitch": -0.33205646276474,
                        "yaw": -80.8586654663086
                    }
                },
                "velocity": {
                    "x": 1.2830960750579834,
                    "y": -7.982051372528076,
                    "z": -0.04565734788775444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006442070007324,
                "transform": {
                    "location": {
                        "x": 961.608154296875,
                        "y": 3435.607421875,
                        "z": 370.4483642578125
                    },
                    "rotation": {
                        "roll": -0.0010070849675685167,
                        "pitch": -0.35192549228668213,
                        "yaw": -80.86427307128906
                    }
                },
                "velocity": {
                    "x": 1.2712349891662598,
                    "y": -7.904717445373535,
                    "z": -0.05022982135415077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024054527282715,
                "transform": {
                    "location": {
                        "x": 964.4671020507812,
                        "y": 3397.3896484375,
                        "z": 370.1657409667969
                    },
                    "rotation": {
                        "roll": 0.000545208400581032,
                        "pitch": -0.4980778694152832,
                        "yaw": -80.85562133789062
                    }
                },
                "velocity": {
                    "x": 1.2751824855804443,
                    "y": -7.921783924102783,
                    "z": -0.06855478137731552
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054967880249023,
                "transform": {
                    "location": {
                        "x": 968.5773315429688,
                        "y": 3392.306396484375,
                        "z": 370.1161193847656
                    },
                    "rotation": {
                        "roll": 0.0002216183638665825,
                        "pitch": -0.5648224353790283,
                        "yaw": -80.83501434326172
                    }
                },
                "velocity": {
                    "x": 1.2804268598556519,
                    "y": -7.952140808105469,
                    "z": -0.08050145208835602
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.7949800491333,
                "transform": {
                    "location": {
                        "x": 962.9959106445312,
                        "y": 3384.90673828125,
                        "z": 370.0860595703125
                    },
                    "rotation": {
                        "roll": 0.004279776010662317,
                        "pitch": 0.7794747948646545,
                        "yaw": 99.30965423583984
                    }
                },
                "velocity": {
                    "x": -1.5837557315826416,
                    "y": 9.6655855178833,
                    "z": 0.09902273118495941
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.563308238983154,
                "transform": {
                    "location": {
                        "x": 956.07373046875,
                        "y": 3427.8349609375,
                        "z": 370.4361572265625
                    },
                    "rotation": {
                        "roll": -0.0005188071518205106,
                        "pitch": 0.28241464495658875,
                        "yaw": 99.1182632446289
                    }
                },
                "velocity": {
                    "x": -1.0425617694854736,
                    "y": 6.479833126068115,
                    "z": 0.04291502758860588
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8890411853790283,
                "transform": {
                    "location": {
                        "x": 954.4471435546875,
                        "y": 3437.93701171875,
                        "z": 370.4657287597656
                    },
                    "rotation": {
                        "roll": 0.00042212966945953667,
                        "pitch": 0.5385467410087585,
                        "yaw": 99.15272521972656
                    }
                },
                "velocity": {
                    "x": -0.3010164797306061,
                    "y": 1.8648725748062134,
                    "z": 0.010762061923742294
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.440090656280518,
                "transform": {
                    "location": {
                        "x": 939.919189453125,
                        "y": 3507.7568359375,
                        "z": 370.7595520019531
                    },
                    "rotation": {
                        "roll": 1.1219161933695432e-05,
                        "pitch": 0.15802325308322906,
                        "yaw": 99.14715576171875
                    }
                },
                "velocity": {
                    "x": -0.8640598058700562,
                    "y": 5.371004104614258,
                    "z": 0.01734103076159954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 937.2972412109375,
                        "y": 3524.6748046875,
                        "z": 370.81195068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.14107072353363037,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.634707450866699,
                "transform": {
                    "location": {
                        "x": 959.1554565429688,
                        "y": 3408.70263671875,
                        "z": 370.2668151855469
                    },
                    "rotation": {
                        "roll": -0.0011901744874194264,
                        "pitch": 0.47384434938430786,
                        "yaw": 99.11663055419922
                    }
                },
                "velocity": {
                    "x": -0.8954626321792603,
                    "y": 5.5629448890686035,
                    "z": 0.04147961363196373
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026192665100098,
                "transform": {
                    "location": {
                        "x": 950.0017700195312,
                        "y": 3465.554931640625,
                        "z": 370.6009826660156
                    },
                    "rotation": {
                        "roll": 0.0006338258972391486,
                        "pitch": 0.24420657753944397,
                        "yaw": 99.12788391113281
                    }
                },
                "velocity": {
                    "x": -1.2751483917236328,
                    "y": 7.924183368682861,
                    "z": 0.032917898148298264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047622680664062,
                "transform": {
                    "location": {
                        "x": 947.0126342773438,
                        "y": 3484.1298828125,
                        "z": 370.6813049316406
                    },
                    "rotation": {
                        "roll": 4.855876341025578e-06,
                        "pitch": 0.22991780936717987,
                        "yaw": 99.1649169921875
                    }
                },
                "velocity": {
                    "x": -1.279136061668396,
                    "y": 7.94524621963501,
                    "z": 0.03327678516507149
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165194272994995,
                "transform": {
                    "location": {
                        "x": 946.9518432617188,
                        "y": 3459.060791015625,
                        "z": 370.56201171875
                    },
                    "rotation": {
                        "roll": 3.601858679758152e-06,
                        "pitch": -0.04651358723640442,
                        "yaw": 99.14221954345703
                    }
                },
                "velocity": {
                    "x": -0.5030885934829712,
                    "y": 3.124927520751953,
                    "z": 0.013613080605864525
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162785530090332,
                "transform": {
                    "location": {
                        "x": 948.4533081054688,
                        "y": 3449.72998046875,
                        "z": 370.5213623046875
                    },
                    "rotation": {
                        "roll": -0.0012206785613670945,
                        "pitch": 0.5137258172035217,
                        "yaw": 99.12944793701172
                    }
                },
                "velocity": {
                    "x": -0.5007502436637878,
                    "y": 3.122846841812134,
                    "z": 0.01702852174639702
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1551147848367691,
        "expert_target_speed": 8.733391672232186,
        "target_point": [
            41.33499132556422,
            7.226622535576054
        ],
        "target_point_next": [
            92.03726760423166,
            12.728729871988765
        ]
    },
    "485": {
        "acceleration": [
            -1.0828840732574463,
            5.975551605224609,
            0.010809749364852905
        ],
        "angular_velocity": [
            0.4275871217250824,
            0.3341419994831085,
            4.138638496398926
        ],
        "forward_vector": [
            -0.06747028976678848,
            0.9976589679718018,
            0.011147863231599331
        ],
        "right_vector": [
            -0.9977119565010071,
            -0.06751372665166855,
            0.0035668094642460346
        ],
        "location": [
            951.5533447265625,
            3454.510498046875,
            370.5499267578125
        ],
        "rotation": [
            -0.2043762505054474,
            0.638738751411438,
            93.86894226074219
        ],
        "velocity": [
            -0.6659789085388184,
            8.896986961364746,
            0.041919756680727005
        ],
        "speed": 8.921877879533707,
        "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": 13.15884017944336,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                949.6832885742188,
                3467.53564453125,
                370.6092529296875
            ],
            "velocity": [
                -1.2746102809906006,
                7.924141883850098,
                0.03340740129351616
            ],
            "speed_kmh": 28.893845804194907,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.625449180603027,
                "transform": {
                    "location": {
                        "x": 944.2789916992188,
                        "y": 3522.21044921875,
                        "z": 370.8053894042969
                    },
                    "rotation": {
                        "roll": 0.008753175847232342,
                        "pitch": 0.0048904153518378735,
                        "yaw": -80.80077362060547
                    }
                },
                "velocity": {
                    "x": 1.0937479734420776,
                    "y": -6.534495830535889,
                    "z": -0.02567305974662304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.7452592849731445,
                "transform": {
                    "location": {
                        "x": 948.3275756835938,
                        "y": 3517.657470703125,
                        "z": 370.77862548828125
                    },
                    "rotation": {
                        "roll": -0.0023498625960201025,
                        "pitch": -0.17477087676525116,
                        "yaw": -80.33062744140625
                    }
                },
                "velocity": {
                    "x": 1.1327080726623535,
                    "y": -6.649414539337158,
                    "z": -0.0278653334826231
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063973426818848,
                "transform": {
                    "location": {
                        "x": 951.083251953125,
                        "y": 3480.544677734375,
                        "z": 370.6700439453125
                    },
                    "rotation": {
                        "roll": 0.00033200104371644557,
                        "pitch": -0.2512211799621582,
                        "yaw": -80.82967376708984
                    }
                },
                "velocity": {
                    "x": 1.2852436304092407,
                    "y": -7.960824012756348,
                    "z": -0.03324338421225548
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009295463562012,
                "transform": {
                    "location": {
                        "x": 955.0849609375,
                        "y": 3476.13232421875,
                        "z": 370.6794128417969
                    },
                    "rotation": {
                        "roll": 0.0012003229930996895,
                        "pitch": -0.24206189811229706,
                        "yaw": -80.82842254638672
                    }
                },
                "velocity": {
                    "x": 1.275164246559143,
                    "y": -7.9070634841918945,
                    "z": -0.03343447670340538
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052799224853516,
                "transform": {
                    "location": {
                        "x": 958.1830444335938,
                        "y": 3436.43701171875,
                        "z": 370.4479675292969
                    },
                    "rotation": {
                        "roll": 0.0004503867239691317,
                        "pitch": -0.33813533186912537,
                        "yaw": -80.86112976074219
                    }
                },
                "velocity": {
                    "x": 1.2797386646270752,
                    "y": -7.950310707092285,
                    "z": -0.04910772666335106
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065638542175293,
                "transform": {
                    "location": {
                        "x": 961.9271850585938,
                        "y": 3433.623779296875,
                        "z": 370.4358215332031
                    },
                    "rotation": {
                        "roll": 0.0010623434791341424,
                        "pitch": -0.3715417683124542,
                        "yaw": -80.86409759521484
                    }
                },
                "velocity": {
                    "x": 1.2806146144866943,
                    "y": -7.9631547927856445,
                    "z": -0.052146658301353455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040975570678711,
                "transform": {
                    "location": {
                        "x": 964.7860717773438,
                        "y": 3395.407470703125,
                        "z": 370.1478576660156
                    },
                    "rotation": {
                        "roll": -0.00140379648655653,
                        "pitch": -0.5268192887306213,
                        "yaw": -80.85700988769531
                    }
                },
                "velocity": {
                    "x": 1.2792887687683105,
                    "y": -7.938210964202881,
                    "z": -0.07428054511547089
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054804801940918,
                "transform": {
                    "location": {
                        "x": 968.8971557617188,
                        "y": 3390.318115234375,
                        "z": 370.0963439941406
                    },
                    "rotation": {
                        "roll": 0.0013531630393117666,
                        "pitch": -0.5626845955848694,
                        "yaw": -80.87476348876953
                    }
                },
                "velocity": {
                    "x": 1.2790511846542358,
                    "y": -7.952201843261719,
                    "z": -0.07992247492074966
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.807337760925293,
                "transform": {
                    "location": {
                        "x": 962.58740234375,
                        "y": 3387.409912109375,
                        "z": 370.11236572265625
                    },
                    "rotation": {
                        "roll": 0.005896451883018017,
                        "pitch": 0.6877999901771545,
                        "yaw": 99.26148223876953
                    }
                },
                "velocity": {
                    "x": -1.732295036315918,
                    "y": 10.66707992553711,
                    "z": 0.10539474338293076
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.33076921105384827,
                "transform": {
                    "location": {
                        "x": 955.9347534179688,
                        "y": 3428.681396484375,
                        "z": 370.4449768066406
                    },
                    "rotation": {
                        "roll": 0.002307363087311387,
                        "pitch": -0.13812008500099182,
                        "yaw": 98.95537567138672
                    }
                },
                "velocity": {
                    "x": -0.05548286437988281,
                    "y": 0.32607895135879517,
                    "z": 0.0015629767440259457
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.3802313804626465,
                "transform": {
                    "location": {
                        "x": 954.3416137695312,
                        "y": 3438.5908203125,
                        "z": 370.46966552734375
                    },
                    "rotation": {
                        "roll": 0.0011081825941801071,
                        "pitch": 0.6180091500282288,
                        "yaw": 99.18592834472656
                    }
                },
                "velocity": {
                    "x": -0.5375457406044006,
                    "y": 3.3371641635894775,
                    "z": 0.018565701320767403
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.953925132751465,
                "transform": {
                    "location": {
                        "x": 939.6889038085938,
                        "y": 3509.186767578125,
                        "z": 370.76361083984375
                    },
                    "rotation": {
                        "roll": -0.0002746562531683594,
                        "pitch": 0.17737999558448792,
                        "yaw": 99.14112091064453
                    }
                },
                "velocity": {
                    "x": -0.9466328024864197,
                    "y": 5.8781633377075195,
                    "z": 0.01745518669486046
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 936.9703979492188,
                        "y": 3526.705810546875,
                        "z": 370.8172302246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.14107072353363037,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.739230632781982,
                "transform": {
                    "location": {
                        "x": 958.8766479492188,
                        "y": 3410.43310546875,
                        "z": 370.2799072265625
                    },
                    "rotation": {
                        "roll": -0.0007934767636470497,
                        "pitch": 0.6703147292137146,
                        "yaw": 99.13378143310547
                    }
                },
                "velocity": {
                    "x": -1.2307943105697632,
                    "y": 7.640527725219727,
                    "z": 0.05630305036902428
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026067733764648,
                "transform": {
                    "location": {
                        "x": 949.6832885742188,
                        "y": 3467.53564453125,
                        "z": 370.6092529296875
                    },
                    "rotation": {
                        "roll": -0.0004577601794153452,
                        "pitch": 0.2430727630853653,
                        "yaw": 99.15106201171875
                    }
                },
                "velocity": {
                    "x": -1.2746102809906006,
                    "y": 7.924141883850098,
                    "z": 0.03340740129351616
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047566413879395,
                "transform": {
                    "location": {
                        "x": 946.6928100585938,
                        "y": 3486.116455078125,
                        "z": 370.6891784667969
                    },
                    "rotation": {
                        "roll": -9.155456791631877e-05,
                        "pitch": 0.22296468913555145,
                        "yaw": 99.13514709472656
                    }
                },
                "velocity": {
                    "x": -1.279081106185913,
                    "y": 7.945211410522461,
                    "z": 0.029752062633633614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651198863983154,
                "transform": {
                    "location": {
                        "x": 946.826171875,
                        "y": 3459.842041015625,
                        "z": 370.5655822753906
                    },
                    "rotation": {
                        "roll": -0.0007934594177640975,
                        "pitch": -0.04623354971408844,
                        "yaw": 99.14276885986328
                    }
                },
                "velocity": {
                    "x": -0.5023263692855835,
                    "y": 3.124967575073242,
                    "z": 0.015148734673857689
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.6196773052215576,
                "transform": {
                    "location": {
                        "x": 948.3296508789062,
                        "y": 3450.4990234375,
                        "z": 370.5256652832031
                    },
                    "rotation": {
                        "roll": 0.004113707225769758,
                        "pitch": 0.698960542678833,
                        "yaw": 99.13900756835938
                    }
                },
                "velocity": {
                    "x": -0.41643163561820984,
                    "y": 2.5863254070281982,
                    "z": 0.01463452260941267
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.028886647894978523,
        "expert_target_speed": 9.282396521816036,
        "target_point": [
            39.30906008890478,
            6.566919141373413
        ],
        "target_point_next": [
            90.09313496234257,
            11.254321858101822
        ]
    },
    "490": {
        "acceleration": [
            -1.3552749156951904,
            4.668121337890625,
            0.016160383820533752
        ],
        "angular_velocity": [
            0.02327559143304825,
            0.2600362002849579,
            5.202109336853027
        ],
        "forward_vector": [
            -0.08798444271087646,
            0.9960164427757263,
            0.014493673108518124
        ],
        "right_vector": [
            -0.9961031675338745,
            -0.08806255459785461,
            0.004841630347073078
        ],
        "location": [
            951.3468627929688,
            3456.962158203125,
            370.5605773925781
        ],
        "rotation": [
            -0.27743521332740784,
            0.8304553627967834,
            95.0481948852539
        ],
        "velocity": [
            -0.9967117309570312,
            10.434965133666992,
            0.045615699142217636
        ],
        "speed": 10.482458281122474,
        "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": 12.709643363952637,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                949.3644409179688,
                3469.51611328125,
                370.6175231933594
            ],
            "velocity": [
                -1.2733436822891235,
                7.923599720001221,
                0.033571891486644745
            ],
            "speed_kmh": 28.89119744686839,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.688973426818848,
                "transform": {
                    "location": {
                        "x": 944.5580444335938,
                        "y": 3520.5712890625,
                        "z": 370.8010559082031
                    },
                    "rotation": {
                        "roll": 0.007624606601893902,
                        "pitch": -0.11276641488075256,
                        "yaw": -80.42845153808594
                    }
                },
                "velocity": {
                    "x": 1.1445753574371338,
                    "y": -6.5902910232543945,
                    "z": -0.01945323497056961
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.971334457397461,
                "transform": {
                    "location": {
                        "x": 948.6030883789062,
                        "y": 3516.040771484375,
                        "z": 370.7732849121094
                    },
                    "rotation": {
                        "roll": -0.0018005461897701025,
                        "pitch": -0.20062313973903656,
                        "yaw": -80.32585906982422
                    }
                },
                "velocity": {
                    "x": 1.0041552782058716,
                    "y": -5.886270523071289,
                    "z": -0.01806058920919895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.039859771728516,
                "transform": {
                    "location": {
                        "x": 951.4036254882812,
                        "y": 3478.560302734375,
                        "z": 370.6617431640625
                    },
                    "rotation": {
                        "roll": -0.0004272376245353371,
                        "pitch": -0.24777193367481232,
                        "yaw": -80.83200073242188
                    }
                },
                "velocity": {
                    "x": 1.2810550928115845,
                    "y": -7.937073707580566,
                    "z": -0.033151354640722275
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0518159866333,
                "transform": {
                    "location": {
                        "x": 955.405029296875,
                        "y": 3474.148681640625,
                        "z": 370.6709289550781
                    },
                    "rotation": {
                        "roll": 0.0011232953984290361,
                        "pitch": -0.2358054369688034,
                        "yaw": -80.85893249511719
                    }
                },
                "velocity": {
                    "x": 1.2797006368637085,
                    "y": -7.949402332305908,
                    "z": -0.03326601907610893
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08460521697998,
                "transform": {
                    "location": {
                        "x": 958.5034790039062,
                        "y": 3434.445556640625,
                        "z": 370.435546875
                    },
                    "rotation": {
                        "roll": -0.0005493345088325441,
                        "pitch": -0.36651477217674255,
                        "yaw": -80.85956573486328
                    }
                },
                "velocity": {
                    "x": 1.284204363822937,
                    "y": -7.981808185577393,
                    "z": -0.04898412898182869
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006914138793945,
                "transform": {
                    "location": {
                        "x": 962.2461547851562,
                        "y": 3431.64013671875,
                        "z": 370.42279052734375
                    },
                    "rotation": {
                        "roll": 0.001323136268183589,
                        "pitch": -0.3678261637687683,
                        "yaw": -80.86406707763672
                    }
                },
                "velocity": {
                    "x": 1.2712944746017456,
                    "y": -7.905170917510986,
                    "z": -0.05247539281845093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023637771606445,
                "transform": {
                    "location": {
                        "x": 965.10498046875,
                        "y": 3393.425537109375,
                        "z": 370.1293029785156
                    },
                    "rotation": {
                        "roll": 0.0007348424405790865,
                        "pitch": -0.5737904906272888,
                        "yaw": -80.86214447021484
                    }
                },
                "velocity": {
                    "x": 1.2740554809570312,
                    "y": -7.921448230743408,
                    "z": -0.07876143604516983
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.2020874023438,
                        "y": 3388.313720703125,
                        "z": 370.0767517089844
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.237663269042969,
                "transform": {
                    "location": {
                        "x": 962.159423828125,
                        "y": 3390.045166015625,
                        "z": 370.1394348144531
                    },
                    "rotation": {
                        "roll": 0.0016055962769314647,
                        "pitch": 0.5538122057914734,
                        "yaw": 99.20201873779297
                    }
                },
                "velocity": {
                    "x": -1.6369744539260864,
                    "y": 10.105457305908203,
                    "z": 0.09898772835731506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0018356011714786291,
                "transform": {
                    "location": {
                        "x": 955.9342041015625,
                        "y": 3428.684814453125,
                        "z": 370.44232177734375
                    },
                    "rotation": {
                        "roll": 0.0010172558249905705,
                        "pitch": 0.17285841703414917,
                        "yaw": 98.9542465209961
                    }
                },
                "velocity": {
                    "x": 0.0002371323644183576,
                    "y": -0.0015367300948128104,
                    "z": 0.0009755308856256306
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.844922065734863,
                "transform": {
                    "location": {
                        "x": 954.1762084960938,
                        "y": 3439.617431640625,
                        "z": 370.4756164550781
                    },
                    "rotation": {
                        "roll": 0.0031886156648397446,
                        "pitch": 0.638793408870697,
                        "yaw": 99.1694107055664
                    }
                },
                "velocity": {
                    "x": -0.7712059020996094,
                    "y": 4.78306770324707,
                    "z": 0.02783791534602642
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.152689456939697,
                "transform": {
                    "location": {
                        "x": 939.4274291992188,
                        "y": 3510.811279296875,
                        "z": 370.7682189941406
                    },
                    "rotation": {
                        "roll": 0.0004118878277949989,
                        "pitch": 0.1831173598766327,
                        "yaw": 99.13270568847656
                    }
                },
                "velocity": {
                    "x": -1.13576340675354,
                    "y": 7.061916351318359,
                    "z": 0.018622368574142456
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 936.6396484375,
                        "y": 3528.76220703125,
                        "z": 370.82244873046875
                    },
                    "rotation": {
                        "roll": -6.670123120500193e-09,
                        "pitch": 0.12682977318763733,
                        "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": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.265068054199219,
                "transform": {
                    "location": {
                        "x": 958.5517578125,
                        "y": 3412.447021484375,
                        "z": 370.2948303222656
                    },
                    "rotation": {
                        "roll": 7.553576142527163e-05,
                        "pitch": 0.5499736070632935,
                        "yaw": 99.18019104003906
                    }
                },
                "velocity": {
                    "x": -1.3166722059249878,
                    "y": 8.159292221069336,
                    "z": 0.06065124273300171
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0253324508667,
                "transform": {
                    "location": {
                        "x": 949.3644409179688,
                        "y": 3469.51611328125,
                        "z": 370.6175231933594
                    },
                    "rotation": {
                        "roll": -0.00018309606821276248,
                        "pitch": 0.24400849640369415,
                        "yaw": 99.12631225585938
                    }
                },
                "velocity": {
                    "x": -1.2733436822891235,
                    "y": 7.923599720001221,
                    "z": 0.033571891486644745
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047087669372559,
                "transform": {
                    "location": {
                        "x": 946.373046875,
                        "y": 3488.1025390625,
                        "z": 370.6967468261719
                    },
                    "rotation": {
                        "roll": 0.0003106755902990699,
                        "pitch": 0.20840954780578613,
                        "yaw": 99.16268157958984
                    }
                },
                "velocity": {
                    "x": -1.2787137031555176,
                    "y": 7.9447855949401855,
                    "z": 0.029915504157543182
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.161232352256775,
                "transform": {
                    "location": {
                        "x": 946.723876953125,
                        "y": 3460.47802734375,
                        "z": 370.5694580078125
                    },
                    "rotation": {
                        "roll": -0.0011596700642257929,
                        "pitch": 1.0431474447250366,
                        "yaw": 99.13748931884766
                    }
                },
                "velocity": {
                    "x": -0.1843356341123581,
                    "y": 1.146492838859558,
                    "z": 0.0059200190007686615
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0042647141963243484,
                "transform": {
                    "location": {
                        "x": 948.294677734375,
                        "y": 3450.716552734375,
                        "z": 370.5275573730469
                    },
                    "rotation": {
                        "roll": -0.0023193161468952894,
                        "pitch": 1.2746020555496216,
                        "yaw": 99.13831329345703
                    }
                },
                "velocity": {
                    "x": -0.0007577347569167614,
                    "y": 0.004033975303173065,
                    "z": 0.001157871214672923
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.05590783432126045,
        "expert_target_speed": 10.0,
        "target_point": [
            36.97555595021908,
            5.766641613053832
        ],
        "target_point_next": [
            87.84533775198058,
            9.407974393905352
        ]
    },
    "495": {
        "acceleration": [
            -2.7451372146606445,
            3.421611785888672,
            0.013316497206687927
        ],
        "angular_velocity": [
            -0.4037632346153259,
            1.2180548906326294,
            10.391304969787598
        ],
        "forward_vector": [
            -0.11972149461507797,
            0.9927150011062622,
            0.013554156757891178
        ],
        "right_vector": [
            -0.9927587509155273,
            -0.11983976513147354,
            0.008276249282062054
        ],
        "location": [
            951.0438232421875,
            3459.697998046875,
            370.5729675292969
        ],
        "rotation": [
            -0.4742431044578552,
            0.7766197919845581,
            96.87666320800781
        ],
        "velocity": [
            -1.508217692375183,
            11.391593933105469,
            0.04977957531809807
        ],
        "speed": 11.491002260219028,
        "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": 11.967397689819336,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                949.0458374023438,
                3471.497314453125,
                370.6258544921875
            ],
            "velocity": [
                -1.2764824628829956,
                7.923145771026611,
                0.032745398581027985
            ],
            "speed_kmh": 28.8913667672463,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.601086139678955,
                "transform": {
                    "location": {
                        "x": 944.8411254882812,
                        "y": 3518.9345703125,
                        "z": 370.7967834472656
                    },
                    "rotation": {
                        "roll": 0.0009098857408389449,
                        "pitch": -0.15134333074092865,
                        "yaw": -80.23139953613281
                    }
                },
                "velocity": {
                    "x": 1.1338262557983398,
                    "y": -6.502959251403809,
                    "z": -0.017287196591496468
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.5049052238464355,
                "transform": {
                    "location": {
                        "x": 948.8389892578125,
                        "y": 3514.65771484375,
                        "z": 370.7692565917969
                    },
                    "rotation": {
                        "roll": -0.0015258688945323229,
                        "pitch": -0.19400468468666077,
                        "yaw": -80.3315200805664
                    }
                },
                "velocity": {
                    "x": 0.9245951771736145,
                    "y": -5.426680088043213,
                    "z": -0.01582775078713894
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.112322807312012,
                "transform": {
                    "location": {
                        "x": 951.725341796875,
                        "y": 3476.565185546875,
                        "z": 370.65325927734375
                    },
                    "rotation": {
                        "roll": 0.00041285614133812487,
                        "pitch": -0.2271106094121933,
                        "yaw": -80.84185791015625
                    }
                },
                "velocity": {
                    "x": 1.2900631427764893,
                    "y": -8.00901985168457,
                    "z": -0.033507224172353745
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01919174194336,
                "transform": {
                    "location": {
                        "x": 955.724365234375,
                        "y": 3472.165283203125,
                        "z": 370.6626892089844
                    },
                    "rotation": {
                        "roll": -0.00012207735562697053,
                        "pitch": -0.23946641385555267,
                        "yaw": -80.83567810058594
                    }
                },
                "velocity": {
                    "x": 1.2756257057189941,
                    "y": -7.917018413543701,
                    "z": -0.0322147011756897
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052056312561035,
                "transform": {
                    "location": {
                        "x": 958.8239135742188,
                        "y": 3432.454345703125,
                        "z": 370.4227294921875
                    },
                    "rotation": {
                        "roll": 0.00040701840771362185,
                        "pitch": -0.3706333637237549,
                        "yaw": -80.85737609863281
                    }
                },
                "velocity": {
                    "x": 1.2796562910079956,
                    "y": -7.949548244476318,
                    "z": -0.052600279450416565
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066238403320312,
                "transform": {
                    "location": {
                        "x": 962.5651245117188,
                        "y": 3429.65625,
                        "z": 370.4097900390625
                    },
                    "rotation": {
                        "roll": 0.0006454662070609629,
                        "pitch": -0.368953138589859,
                        "yaw": -80.86409759521484
                    }
                },
                "velocity": {
                    "x": 1.28068208694458,
                    "y": -7.963749408721924,
                    "z": -0.05250953510403633
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040403366088867,
                "transform": {
                    "location": {
                        "x": 965.4239501953125,
                        "y": 3391.443115234375,
                        "z": 370.1094970703125
                    },
                    "rotation": {
                        "roll": -0.0003357097739353776,
                        "pitch": -0.5710447430610657,
                        "yaw": -80.85941314697266
                    }
                },
                "velocity": {
                    "x": 1.2772767543792725,
                    "y": -7.937899589538574,
                    "z": -0.07997038215398788
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.4646606445312,
                        "y": 3386.24609375,
                        "z": 370.0569763183594
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.369733810424805,
                "transform": {
                    "location": {
                        "x": 961.76513671875,
                        "y": 3392.482666015625,
                        "z": 370.1640930175781
                    },
                    "rotation": {
                        "roll": 0.0013161655515432358,
                        "pitch": 0.48378226161003113,
                        "yaw": 99.19137573242188
                    }
                },
                "velocity": {
                    "x": -1.4951609373092651,
                    "y": 9.249215126037598,
                    "z": 0.09181687980890274
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6671922206878662,
                "transform": {
                    "location": {
                        "x": 955.9216918945312,
                        "y": 3428.765625,
                        "z": 370.4411926269531
                    },
                    "rotation": {
                        "roll": 0.001015466288663447,
                        "pitch": 0.38182803988456726,
                        "yaw": 98.99160766601562
                    }
                },
                "velocity": {
                    "x": -0.10598835349082947,
                    "y": 0.658709704875946,
                    "z": 0.003668899415060878
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.43554162979126,
                "transform": {
                    "location": {
                        "x": 953.9661254882812,
                        "y": 3440.920166015625,
                        "z": 370.4835205078125
                    },
                    "rotation": {
                        "roll": 0.0013759603025391698,
                        "pitch": 0.4923405051231384,
                        "yaw": 99.19807434082031
                    }
                },
                "velocity": {
                    "x": -0.8648109436035156,
                    "y": 5.366213798522949,
                    "z": 0.031018370762467384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.94092321395874,
                "transform": {
                    "location": {
                        "x": 939.1266479492188,
                        "y": 3512.681396484375,
                        "z": 370.7734375
                    },
                    "rotation": {
                        "roll": -0.00024412706261500716,
                        "pitch": 0.17668332159519196,
                        "yaw": 99.13372802734375
                    }
                },
                "velocity": {
                    "x": -1.2606831789016724,
                    "y": 7.840184211730957,
                    "z": 0.021288804709911346
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 936.3087158203125,
                        "y": 3530.818603515625,
                        "z": 370.82733154296875
                    },
                    "rotation": {
                        "roll": -6.670123120500193e-09,
                        "pitch": 0.12682977318763733,
                        "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": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.1621575355529785,
                "transform": {
                    "location": {
                        "x": 958.2434692382812,
                        "y": 3414.358154296875,
                        "z": 370.3082275390625
                    },
                    "rotation": {
                        "roll": -0.0010986351408064365,
                        "pitch": 0.30261150002479553,
                        "yaw": 99.1487808227539
                    }
                },
                "velocity": {
                    "x": -1.1406359672546387,
                    "y": 7.070559024810791,
                    "z": 0.051419541239738464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02538013458252,
                "transform": {
                    "location": {
                        "x": 949.0458374023438,
                        "y": 3471.497314453125,
                        "z": 370.6258544921875
                    },
                    "rotation": {
                        "roll": -0.001251216628588736,
                        "pitch": 0.2451901137828827,
                        "yaw": 99.15459442138672
                    }
                },
                "velocity": {
                    "x": -1.2764824628829956,
                    "y": 7.923145771026611,
                    "z": 0.032745398581027985
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047993659973145,
                "transform": {
                    "location": {
                        "x": 946.053466796875,
                        "y": 3490.0888671875,
                        "z": 370.7039794921875
                    },
                    "rotation": {
                        "roll": 0.0003042789176106453,
                        "pitch": 0.20846419036388397,
                        "yaw": 99.12615966796875
                    }
                },
                "velocity": {
                    "x": -1.2789160013198853,
                    "y": 7.945672988891602,
                    "z": 0.029280127957463264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.006866383366286755,
                "transform": {
                    "location": {
                        "x": 946.7188110351562,
                        "y": 3460.509521484375,
                        "z": 370.56927490234375
                    },
                    "rotation": {
                        "roll": 0.00014440761879086494,
                        "pitch": 0.7732388377189636,
                        "yaw": 99.13790893554688
                    }
                },
                "velocity": {
                    "x": 0.0013976971386000514,
                    "y": -0.006598257925361395,
                    "z": 0.0012871111975982785
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.002774468157440424,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.52655029296875
                    },
                    "rotation": {
                        "roll": -0.0014342986978590488,
                        "pitch": 0.5485597848892212,
                        "yaw": 99.13825988769531
                    }
                },
                "velocity": {
                    "x": -0.00026150999474339187,
                    "y": 0.0025101518258452415,
                    "z": 0.0011525729205459356
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.05468641594052315,
        "expert_target_speed": 10.0,
        "target_point": [
            34.388286231276474,
            4.610611370553359
        ],
        "target_point_next": [
            85.34835254619087,
            6.6269561226373686
        ]
    },
    "500": {
        "acceleration": [
            -6.364126205444336,
            1.4923286437988281,
            0.011467188596725464
        ],
        "angular_velocity": [
            -1.0776163339614868,
            3.393357753753662,
            26.938236236572266
        ],
        "forward_vector": [
            -0.19939368963241577,
            0.9798445105552673,
            0.012123286724090576
        ],
        "right_vector": [
            -0.9796680808067322,
            -0.1996075063943863,
            0.020183375105261803
        ],
        "location": [
            950.5348510742188,
            3462.63671875,
            370.5865783691406
        ],
        "rotation": [
            -1.156585693359375,
            0.6946302056312561,
            101.50236511230469
        ],
        "velocity": [
            -2.737854480743408,
            11.990862846374512,
            0.053466375917196274
        ],
        "speed": 12.29945685623115,
        "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": 10.991836547851562,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                948.7269897460938,
                3473.478759765625,
                370.63421630859375
            ],
            "velocity": [
                -1.275334119796753,
                7.923989295959473,
                0.03352677449584007
            ],
            "speed_kmh": 28.893719205282515,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.529646873474121,
                "transform": {
                    "location": {
                        "x": 945.1177368164062,
                        "y": 3517.30078125,
                        "z": 370.7922668457031
                    },
                    "rotation": {
                        "roll": -0.0059204138815402985,
                        "pitch": -0.15152090787887573,
                        "yaw": -80.36368560791016
                    }
                },
                "velocity": {
                    "x": 1.0788729190826416,
                    "y": -6.439877986907959,
                    "z": -0.017109116539359093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.979602813720703,
                "transform": {
                    "location": {
                        "x": 949.0770263671875,
                        "y": 3513.231689453125,
                        "z": 370.76495361328125
                    },
                    "rotation": {
                        "roll": 0.001701616682112217,
                        "pitch": -0.15063981711864471,
                        "yaw": -80.4217529296875
                    }
                },
                "velocity": {
                    "x": 0.9773903489112854,
                    "y": -5.899158954620361,
                    "z": -0.01683957129716873
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063923835754395,
                "transform": {
                    "location": {
                        "x": 952.046875,
                        "y": 3474.568359375,
                        "z": 370.6449890136719
                    },
                    "rotation": {
                        "roll": 0.000897430581972003,
                        "pitch": -0.23995819687843323,
                        "yaw": -80.85692596435547
                    }
                },
                "velocity": {
                    "x": 1.281221628189087,
                    "y": -7.961421489715576,
                    "z": -0.033291421830654144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030707359313965,
                "transform": {
                    "location": {
                        "x": 956.0433959960938,
                        "y": 3470.185546875,
                        "z": 370.65435791015625
                    },
                    "rotation": {
                        "roll": -0.0012817386304959655,
                        "pitch": -0.2377861887216568,
                        "yaw": -80.86382293701172
                    }
                },
                "velocity": {
                    "x": 1.2767726182937622,
                    "y": -7.9284892082214355,
                    "z": -0.03416935354471207
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085066795349121,
                "transform": {
                    "location": {
                        "x": 959.1444091796875,
                        "y": 3430.462646484375,
                        "z": 370.40960693359375
                    },
                    "rotation": {
                        "roll": 0.0017873054603114724,
                        "pitch": -0.3695063889026642,
                        "yaw": -80.85581970214844
                    }
                },
                "velocity": {
                    "x": 1.2848665714263916,
                    "y": -7.982147216796875,
                    "z": -0.0524081327021122
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006465911865234,
                "transform": {
                    "location": {
                        "x": 962.8840942382812,
                        "y": 3427.6728515625,
                        "z": 370.3968811035156
                    },
                    "rotation": {
                        "roll": 0.00034263706766068935,
                        "pitch": -0.3681676685810089,
                        "yaw": -80.86424255371094
                    }
                },
                "velocity": {
                    "x": 1.2711799144744873,
                    "y": -7.904738426208496,
                    "z": -0.052046895027160645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.7271728515625,
                        "y": 3389.396728515625,
                        "z": 370.09039306640625
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "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": 4834,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.7899169921875,
                        "y": 3384.186767578125,
                        "z": 370.0347595214844
                    },
                    "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": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.537596702575684,
                "transform": {
                    "location": {
                        "x": 961.3935546875,
                        "y": 3394.7822265625,
                        "z": 370.1856689453125
                    },
                    "rotation": {
                        "roll": 0.00018722438835538924,
                        "pitch": 0.5245175361633301,
                        "yaw": 99.17667388916016
                    }
                },
                "velocity": {
                    "x": -1.5195225477218628,
                    "y": 9.415385246276855,
                    "z": 0.08547479659318924
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.417291522026062,
                "transform": {
                    "location": {
                        "x": 955.878662109375,
                        "y": 3429.032470703125,
                        "z": 370.4424133300781
                    },
                    "rotation": {
                        "roll": -6.105993816163391e-05,
                        "pitch": 0.43780145049095154,
                        "yaw": 98.9729232788086
                    }
                },
                "velocity": {
                    "x": -0.2248910814523697,
                    "y": 1.3993117809295654,
                    "z": 0.008090019226074219
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.565462589263916,
                "transform": {
                    "location": {
                        "x": 953.738037109375,
                        "y": 3442.33642578125,
                        "z": 370.49176025390625
                    },
                    "rotation": {
                        "roll": 0.0015819530235603452,
                        "pitch": 0.541531503200531,
                        "yaw": 99.18688201904297
                    }
                },
                "velocity": {
                    "x": -1.0444234609603882,
                    "y": 6.48175048828125,
                    "z": 0.03729500621557236
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.257667541503906,
                "transform": {
                    "location": {
                        "x": 938.8020629882812,
                        "y": 3514.699951171875,
                        "z": 370.7790832519531
                    },
                    "rotation": {
                        "roll": 0.0002418190415482968,
                        "pitch": 0.16587112843990326,
                        "yaw": 99.13435363769531
                    }
                },
                "velocity": {
                    "x": -1.310919165611267,
                    "y": 8.152920722961426,
                    "z": 0.021382732316851616
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.977783203125,
                        "y": 3532.875,
                        "z": 370.8321838378906
                    },
                    "rotation": {
                        "roll": -6.670123120500193e-09,
                        "pitch": 0.12682977318763733,
                        "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": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.218935012817383,
                "transform": {
                    "location": {
                        "x": 958.0025634765625,
                        "y": 3415.850830078125,
                        "z": 370.3183898925781
                    },
                    "rotation": {
                        "roll": -0.00021362266852520406,
                        "pitch": 0.02293577417731285,
                        "yaw": 99.22261047363281
                    }
                },
                "velocity": {
                    "x": -0.6718224883079529,
                    "y": 4.165034294128418,
                    "z": 0.023610763251781464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026033401489258,
                "transform": {
                    "location": {
                        "x": 948.7269897460938,
                        "y": 3473.478759765625,
                        "z": 370.63421630859375
                    },
                    "rotation": {
                        "roll": -0.0001831094123190269,
                        "pitch": 0.24404264986515045,
                        "yaw": 99.12635803222656
                    }
                },
                "velocity": {
                    "x": -1.275334119796753,
                    "y": 7.923989295959473,
                    "z": 0.03352677449584007
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047954559326172,
                "transform": {
                    "location": {
                        "x": 945.7337036132812,
                        "y": 3492.0751953125,
                        "z": 370.7112731933594
                    },
                    "rotation": {
                        "roll": -0.0010986338602378964,
                        "pitch": 0.20965264737606049,
                        "yaw": 99.16061401367188
                    }
                },
                "velocity": {
                    "x": -1.2785975933074951,
                    "y": 7.945684432983398,
                    "z": 0.029400987550616264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.1923738569021225,
        "expert_target_speed": 0,
        "target_point": [
            31.666910761553773,
            1.9095591456446437
        ],
        "target_point_next": [
            82.62359971332978,
            -0.19040658066571936
        ]
    },
    "505": {
        "acceleration": [
            -8.738470077514648,
            -1.6144752502441406,
            -0.007075071334838867
        ],
        "angular_velocity": [
            -1.8017687797546387,
            3.343905210494995,
            42.51483917236328
        ],
        "forward_vector": [
            -0.35214653611183167,
            0.9358907341957092,
            0.010066337883472443
        ],
        "right_vector": [
            -0.9351045489311218,
            -0.35226568579673767,
            0.038578733801841736
        ],
        "location": [
            949.6144409179688,
            3465.643310546875,
            370.6003112792969
        ],
        "rotation": [
            -2.2110595703125,
            0.5767684578895569,
            110.61975860595703
        ],
        "velocity": [
            -4.802659034729004,
            11.916312217712402,
            0.05267960578203201
        ],
        "speed": 12.847724727509771,
        "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": 9.889838218688965,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                948.4082641601562,
                3475.459228515625,
                370.6424865722656
            ],
            "velocity": [
                -1.276713490486145,
                7.923669338226318,
                0.03299839794635773
            ],
            "speed_kmh": 28.89336362010057,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.032736301422119,
                "transform": {
                    "location": {
                        "x": 945.372802734375,
                        "y": 3515.781494140625,
                        "z": 370.7878112792969
                    },
                    "rotation": {
                        "roll": -0.002014162950217724,
                        "pitch": -0.11968539655208588,
                        "yaw": -80.4438247680664
                    }
                },
                "velocity": {
                    "x": 0.996008574962616,
                    "y": -5.949922561645508,
                    "z": -0.017157545313239098
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.331376075744629,
                "transform": {
                    "location": {
                        "x": 949.3833618164062,
                        "y": 3511.388427734375,
                        "z": 370.7589111328125
                    },
                    "rotation": {
                        "roll": 0.0007233666256070137,
                        "pitch": -0.04956667870283127,
                        "yaw": -80.54395294189453
                    }
                },
                "velocity": {
                    "x": 1.360927700996399,
                    "y": -8.219437599182129,
                    "z": -0.02326763980090618
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082521438598633,
                "transform": {
                    "location": {
                        "x": 952.3673706054688,
                        "y": 3472.576416015625,
                        "z": 370.63671875
                    },
                    "rotation": {
                        "roll": 0.00011087152233812958,
                        "pitch": -0.24432268738746643,
                        "yaw": -80.86015319824219
                    }
                },
                "velocity": {
                    "x": 1.283964991569519,
                    "y": -7.979817867279053,
                    "z": -0.033177055418491364
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035652160644531,
                "transform": {
                    "location": {
                        "x": 956.3627319335938,
                        "y": 3468.2021484375,
                        "z": 370.64605712890625
                    },
                    "rotation": {
                        "roll": -0.0013122613308951259,
                        "pitch": -0.23834626376628876,
                        "yaw": -80.83470153808594
                    }
                },
                "velocity": {
                    "x": 1.2783509492874146,
                    "y": -7.933250427246094,
                    "z": -0.03251307085156441
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05261516571045,
                "transform": {
                    "location": {
                        "x": 959.4650268554688,
                        "y": 3428.471435546875,
                        "z": 370.3966064453125
                    },
                    "rotation": {
                        "roll": 0.0007848076638765633,
                        "pitch": -0.3693219721317291,
                        "yaw": -80.85581970214844
                    }
                },
                "velocity": {
                    "x": 1.2796728610992432,
                    "y": -7.950113296508789,
                    "z": -0.052338507026433945
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066478729248047,
                "transform": {
                    "location": {
                        "x": 963.2031860351562,
                        "y": 3425.68896484375,
                        "z": 370.3835144042969
                    },
                    "rotation": {
                        "roll": 0.0005347542464733124,
                        "pitch": -0.38125431537628174,
                        "yaw": -80.86144256591797
                    }
                },
                "velocity": {
                    "x": 1.2835559844970703,
                    "y": -7.963525772094727,
                    "z": -0.05309365689754486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4835,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.0159912109375,
                        "y": 3387.333251953125,
                        "z": 370.0718994140625
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.658687591552734,
                "transform": {
                    "location": {
                        "x": 961.0025634765625,
                        "y": 3397.20654296875,
                        "z": 370.2074890136719
                    },
                    "rotation": {
                        "roll": 0.001405550865456462,
                        "pitch": 0.4961449205875397,
                        "yaw": 99.16107940673828
                    }
                },
                "velocity": {
                    "x": -1.5370023250579834,
                    "y": 9.53525161743164,
                    "z": 0.0828375592827797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.383504867553711,
                "transform": {
                    "location": {
                        "x": 955.8037109375,
                        "y": 3429.5,
                        "z": 370.4452209472656
                    },
                    "rotation": {
                        "roll": -0.0002746840182226151,
                        "pitch": 0.4652792811393738,
                        "yaw": 98.99526977539062
                    }
                },
                "velocity": {
                    "x": -0.3780798614025116,
                    "y": 2.3532793521881104,
                    "z": 0.015069379471242428
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.491528511047363,
                "transform": {
                    "location": {
                        "x": 953.43115234375,
                        "y": 3444.24169921875,
                        "z": 370.502685546875
                    },
                    "rotation": {
                        "roll": 0.0025064863730221987,
                        "pitch": 0.6877043843269348,
                        "yaw": 99.1645278930664
                    }
                },
                "velocity": {
                    "x": -1.348649263381958,
                    "y": 8.383621215820312,
                    "z": 0.04584811255335808
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.058277130126953,
                "transform": {
                    "location": {
                        "x": 938.4782104492188,
                        "y": 3516.71337890625,
                        "z": 370.7847900390625
                    },
                    "rotation": {
                        "roll": -0.0006713886978104711,
                        "pitch": 0.15527068078517914,
                        "yaw": 99.14037322998047
                    }
                },
                "velocity": {
                    "x": -1.2801514863967896,
                    "y": 7.955913543701172,
                    "z": 0.021915491670370102
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.6468505859375,
                        "y": 3534.93115234375,
                        "z": 370.8365478515625
                    },
                    "rotation": {
                        "roll": -3.3350595618486523e-09,
                        "pitch": 0.11260249465703964,
                        "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": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.40735238790512085,
                "transform": {
                    "location": {
                        "x": 957.952880859375,
                        "y": 3416.15869140625,
                        "z": 370.3200378417969
                    },
                    "rotation": {
                        "roll": -0.0021972705144435167,
                        "pitch": -0.17992766201496124,
                        "yaw": 99.23531341552734
                    }
                },
                "velocity": {
                    "x": -0.06683633476495743,
                    "y": 0.40182268619537354,
                    "z": 0.0027208805549889803
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025934219360352,
                "transform": {
                    "location": {
                        "x": 948.4082641601562,
                        "y": 3475.459228515625,
                        "z": 370.6424865722656
                    },
                    "rotation": {
                        "roll": -0.0008239790331572294,
                        "pitch": 0.24424071609973907,
                        "yaw": 99.15630340576172
                    }
                },
                "velocity": {
                    "x": -1.276713490486145,
                    "y": 7.923669338226318,
                    "z": 0.03299839794635773
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047752380371094,
                "transform": {
                    "location": {
                        "x": 945.4141845703125,
                        "y": 3494.0615234375,
                        "z": 370.7183837890625
                    },
                    "rotation": {
                        "roll": 0.0004582592227961868,
                        "pitch": 0.20348498225212097,
                        "yaw": 99.12581634521484
                    }
                },
                "velocity": {
                    "x": -1.2779213190078735,
                    "y": 7.945590019226074,
                    "z": 0.028996657580137253
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8176167607307434,
        "expert_target_speed": 0,
        "target_point": [
            28.431286836896135,
            -2.935079297352968
        ],
        "target_point_next": [
            78.41141645348529,
            -13.083017437126822
        ]
    },
    "510": {
        "acceleration": [
            -5.166254043579102,
            -2.153301239013672,
            -0.00135764479637146
        ],
        "angular_velocity": [
            0.19722309708595276,
            -1.4352566003799438,
            28.14813995361328
        ],
        "forward_vector": [
            -0.5005457997322083,
            0.8656784892082214,
            0.00739388819783926
        ],
        "right_vector": [
            -0.86470627784729,
            -0.5003583431243896,
            0.04387041926383972
        ],
        "location": [
            948.1990966796875,
            3468.549072265625,
            370.6136779785156
        ],
        "rotation": [
            -2.514465570449829,
            0.42364245653152466,
            120.03701782226562
        ],
        "velocity": [
            -6.538843154907227,
            11.286239624023438,
            0.05015041306614876
        ],
        "speed": 13.043606658258053,
        "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": 8.891622543334961,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                948.0894165039062,
                3477.43994140625,
                370.6507873535156
            ],
            "velocity": [
                -1.2755388021469116,
                7.924249172210693,
                0.03292522206902504
            ],
            "speed_kmh": 28.894750992370405,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.8291826248168945,
                "transform": {
                    "location": {
                        "x": 945.6357421875,
                        "y": 3514.211181640625,
                        "z": 370.7840881347656
                    },
                    "rotation": {
                        "roll": -0.001464838394895196,
                        "pitch": -0.20864860713481903,
                        "yaw": -80.4683609008789
                    }
                },
                "velocity": {
                    "x": 1.1274957656860352,
                    "y": -6.735440731048584,
                    "z": -0.018055567517876625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.126952171325684,
                "transform": {
                    "location": {
                        "x": 949.7244873046875,
                        "y": 3509.328125,
                        "z": 370.7536315917969
                    },
                    "rotation": {
                        "roll": 0.0014157213736325502,
                        "pitch": -0.14697200059890747,
                        "yaw": -80.60750579833984
                    }
                },
                "velocity": {
                    "x": 1.3161356449127197,
                    "y": -8.019634246826172,
                    "z": -0.024341406300663948
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064374923706055,
                "transform": {
                    "location": {
                        "x": 952.6880493164062,
                        "y": 3470.583740234375,
                        "z": 370.62823486328125
                    },
                    "rotation": {
                        "roll": -0.00021361865219660103,
                        "pitch": -0.23617427051067352,
                        "yaw": -80.86071014404297
                    }
                },
                "velocity": {
                    "x": 1.2811048030853271,
                    "y": -7.961897373199463,
                    "z": -0.03319471329450607
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026739120483398,
                "transform": {
                    "location": {
                        "x": 956.6820068359375,
                        "y": 3466.22021484375,
                        "z": 370.6376953125
                    },
                    "rotation": {
                        "roll": -0.0010681201238185167,
                        "pitch": -0.2393503040075302,
                        "yaw": -80.86829376220703
                    }
                },
                "velocity": {
                    "x": 1.2738088369369507,
                    "y": -7.9249467849731445,
                    "z": -0.03428640216588974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085153579711914,
                "transform": {
                    "location": {
                        "x": 959.7855224609375,
                        "y": 3426.4794921875,
                        "z": 370.3834228515625
                    },
                    "rotation": {
                        "roll": -6.104610656620935e-05,
                        "pitch": -0.3735908269882202,
                        "yaw": -80.85846710205078
                    }
                },
                "velocity": {
                    "x": 1.2843559980392456,
                    "y": -7.9823150634765625,
                    "z": -0.05274396762251854
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006659507751465,
                "transform": {
                    "location": {
                        "x": 963.5223388671875,
                        "y": 3423.70556640625,
                        "z": 370.3701171875
                    },
                    "rotation": {
                        "roll": -0.0004882896319031715,
                        "pitch": -0.38769516348838806,
                        "yaw": -80.85846710205078
                    }
                },
                "velocity": {
                    "x": 1.271967887878418,
                    "y": -7.904797077178955,
                    "z": -0.05354129150509834
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.6865234375,
                        "y": 3399.388671875,
                        "z": 370.21539306640625
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.7055890560150146,
                "transform": {
                    "location": {
                        "x": 955.6837158203125,
                        "y": 3430.249267578125,
                        "z": 370.44976806640625
                    },
                    "rotation": {
                        "roll": -0.0005493178032338619,
                        "pitch": 0.5036103129386902,
                        "yaw": 99.0422592163086
                    }
                },
                "velocity": {
                    "x": -0.5882994532585144,
                    "y": 3.6585159301757812,
                    "z": 0.02358594909310341
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.106781959533691,
                "transform": {
                    "location": {
                        "x": 953.0770263671875,
                        "y": 3446.44189453125,
                        "z": 370.51470947265625
                    },
                    "rotation": {
                        "roll": 0.0015230800490826368,
                        "pitch": 0.48557862639427185,
                        "yaw": 99.14073944091797
                    }
                },
                "velocity": {
                    "x": -1.446320652961731,
                    "y": 8.991072654724121,
                    "z": 0.047481194138526917
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.033106803894043,
                "transform": {
                    "location": {
                        "x": 938.1591186523438,
                        "y": 3518.695556640625,
                        "z": 370.7903137207031
                    },
                    "rotation": {
                        "roll": -0.00033568101935088634,
                        "pitch": 0.15530483424663544,
                        "yaw": 99.14491271972656
                    }
                },
                "velocity": {
                    "x": -1.2766846418380737,
                    "y": 7.930977821350098,
                    "z": 0.021740788593888283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.908351898193359,
                "transform": {
                    "location": {
                        "x": 935.3223266601562,
                        "y": 3536.94580078125,
                        "z": 370.8404235839844
                    },
                    "rotation": {
                        "roll": 0.0033087998162955046,
                        "pitch": 0.19994693994522095,
                        "yaw": 99.16102600097656
                    }
                },
                "velocity": {
                    "x": -1.113662600517273,
                    "y": 6.817956924438477,
                    "z": 0.02337717078626156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6544009447097778,
                "transform": {
                    "location": {
                        "x": 957.908203125,
                        "y": 3416.434326171875,
                        "z": 370.3227233886719
                    },
                    "rotation": {
                        "roll": 0.0013540646759793162,
                        "pitch": 0.400877445936203,
                        "yaw": 99.3131332397461
                    }
                },
                "velocity": {
                    "x": -0.26510122418403625,
                    "y": 1.6329846382141113,
                    "z": 0.011192607693374157
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02631950378418,
                "transform": {
                    "location": {
                        "x": 948.0894165039062,
                        "y": 3477.43994140625,
                        "z": 370.6507873535156
                    },
                    "rotation": {
                        "roll": -0.0003662188246380538,
                        "pitch": 0.24398116767406464,
                        "yaw": 99.13030242919922
                    }
                },
                "velocity": {
                    "x": -1.2755388021469116,
                    "y": 7.924249172210693,
                    "z": 0.03292522206902504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047974586486816,
                "transform": {
                    "location": {
                        "x": 945.0946044921875,
                        "y": 3496.0478515625,
                        "z": 370.725341796875
                    },
                    "rotation": {
                        "roll": 0.00037582917138934135,
                        "pitch": 0.18824000656604767,
                        "yaw": 99.15894317626953
                    }
                },
                "velocity": {
                    "x": -1.2786043882369995,
                    "y": 7.94570779800415,
                    "z": 0.028020409867167473
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8519535064697266,
        "expert_target_speed": 10.0,
        "target_point": [
            24.343880980860188,
            -7.318299142704683
        ],
        "target_point_next": [
            71.98998657131493,
            -25.507379027156404
        ]
    },
    "515": {
        "acceleration": [
            5.432224273681641,
            -0.23777008056640625,
            -0.021242350339889526
        ],
        "angular_velocity": [
            3.7824103832244873,
            -8.38913631439209,
            -20.147146224975586
        ],
        "forward_vector": [
            -0.5110830664634705,
            0.8595215678215027,
            0.004106033127754927
        ],
        "right_vector": [
            -0.8593971133232117,
            -0.5110818147659302,
            0.015230434946715832
        ],
        "location": [
            946.5672607421875,
            3471.3505859375,
            370.6267395019531
        ],
        "rotation": [
            -0.8726806640625,
            0.2352590262889862,
            120.73628997802734
        ],
        "velocity": [
            -6.2223801612854,
            11.114044189453125,
            0.05245568975806236
        ],
        "speed": 12.737346392270052,
        "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": 50.093772888183594,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                937.8399658203125,
                3520.677978515625,
                370.7957763671875
            ],
            "velocity": [
                -1.2769381999969482,
                7.932188510894775,
                0.021695470437407494
            ],
            "speed_kmh": 28.9236323335117,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.438232421875,
                        "y": 3547.880859375,
                        "z": 371.1712341308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.09838887304067612,
                        "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": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.815980434417725,
                "transform": {
                    "location": {
                        "x": 945.9288940429688,
                        "y": 3512.44189453125,
                        "z": 370.77947998046875
                    },
                    "rotation": {
                        "roll": -0.004943846259266138,
                        "pitch": -0.24023139476776123,
                        "yaw": -80.61207580566406
                    }
                },
                "velocity": {
                    "x": 1.265046238899231,
                    "y": -7.712897777557373,
                    "z": -0.02039656601846218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.886974334716797,
                "transform": {
                    "location": {
                        "x": 950.0447387695312,
                        "y": 3507.373046875,
                        "z": 370.74798583984375
                    },
                    "rotation": {
                        "roll": 0.0013280846178531647,
                        "pitch": -0.1780698448419571,
                        "yaw": -80.7092514038086
                    }
                },
                "velocity": {
                    "x": 1.2688003778457642,
                    "y": -7.784214496612549,
                    "z": -0.022593045607209206
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09497356414795,
                "transform": {
                    "location": {
                        "x": 953.0089721679688,
                        "y": 3468.5888671875,
                        "z": 370.6198425292969
                    },
                    "rotation": {
                        "roll": 5.041309486841783e-05,
                        "pitch": -0.23745834827423096,
                        "yaw": -80.85985565185547
                    }
                },
                "velocity": {
                    "x": 1.2858651876449585,
                    "y": -7.992123126983643,
                    "z": -0.03334160894155502
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031493186950684,
                "transform": {
                    "location": {
                        "x": 957.0006713867188,
                        "y": 3464.23876953125,
                        "z": 370.6290283203125
                    },
                    "rotation": {
                        "roll": -0.00036621905746869743,
                        "pitch": -0.25202029943466187,
                        "yaw": -80.8455581665039
                    }
                },
                "velocity": {
                    "x": 1.2761828899383545,
                    "y": -7.92938232421875,
                    "z": -0.03358963504433632
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051578521728516,
                "transform": {
                    "location": {
                        "x": 960.1058959960938,
                        "y": 3424.48876953125,
                        "z": 370.37017822265625
                    },
                    "rotation": {
                        "roll": -3.052310785278678e-05,
                        "pitch": -0.38796839118003845,
                        "yaw": -80.85935974121094
                    }
                },
                "velocity": {
                    "x": 1.2790359258651733,
                    "y": -7.949164867401123,
                    "z": -0.0525200255215168
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066119194030762,
                "transform": {
                    "location": {
                        "x": 963.8418579101562,
                        "y": 3421.7216796875,
                        "z": 370.3564758300781
                    },
                    "rotation": {
                        "roll": 0.00045456478255800903,
                        "pitch": -0.38736048340797424,
                        "yaw": -80.8518295288086
                    }
                },
                "velocity": {
                    "x": 1.2848515510559082,
                    "y": -7.962949275970459,
                    "z": -0.05363759025931358
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.5048217773438,
                        "y": 3400.90869140625,
                        "z": 370.2073669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.009730815887451,
                "transform": {
                    "location": {
                        "x": 955.5098876953125,
                        "y": 3431.3330078125,
                        "z": 370.4566955566406
                    },
                    "rotation": {
                        "roll": 0.0009011408546939492,
                        "pitch": 0.5132818818092346,
                        "yaw": 99.0833740234375
                    }
                },
                "velocity": {
                    "x": -0.7947911024093628,
                    "y": 4.9461798667907715,
                    "z": 0.03185071796178818
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.738475799560547,
                "transform": {
                    "location": {
                        "x": 952.6802978515625,
                        "y": 3448.90673828125,
                        "z": 370.5275573730469
                    },
                    "rotation": {
                        "roll": 0.0016541396034881473,
                        "pitch": 0.5860165357589722,
                        "yaw": 99.15121459960938
                    }
                },
                "velocity": {
                    "x": -1.7063491344451904,
                    "y": 10.60190200805664,
                    "z": 0.05394222214818001
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.034342765808105,
                "transform": {
                    "location": {
                        "x": 937.8399658203125,
                        "y": 3520.677978515625,
                        "z": 370.7957763671875
                    },
                    "rotation": {
                        "roll": -6.104504427639768e-05,
                        "pitch": 0.1578456610441208,
                        "yaw": 99.14520263671875
                    }
                },
                "velocity": {
                    "x": -1.2769381999969482,
                    "y": 7.932188510894775,
                    "z": 0.021695470437407494
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.581968307495117,
                "transform": {
                    "location": {
                        "x": 935.0441284179688,
                        "y": 3538.580322265625,
                        "z": 370.84625244140625
                    },
                    "rotation": {
                        "roll": 0.004309778101742268,
                        "pitch": 0.18593822419643402,
                        "yaw": 99.56104278564453
                    }
                },
                "velocity": {
                    "x": -1.1068363189697266,
                    "y": 6.488210201263428,
                    "z": 0.018602417781949043
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3530359268188477,
                "transform": {
                    "location": {
                        "x": 957.8245849609375,
                        "y": 3416.950439453125,
                        "z": 370.3263854980469
                    },
                    "rotation": {
                        "roll": 6.102034603827633e-05,
                        "pitch": 0.4880579710006714,
                        "yaw": 99.2672348022461
                    }
                },
                "velocity": {
                    "x": -0.3759050667285919,
                    "y": 2.3227641582489014,
                    "z": 0.015512743033468723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026512145996094,
                "transform": {
                    "location": {
                        "x": 947.7705078125,
                        "y": 3479.421142578125,
                        "z": 370.6589660644531
                    },
                    "rotation": {
                        "roll": 0.0007336779381148517,
                        "pitch": 0.23636551201343536,
                        "yaw": 99.16058349609375
                    }
                },
                "velocity": {
                    "x": -1.2758634090423584,
                    "y": 7.924388885498047,
                    "z": 0.0337148942053318
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047951698303223,
                "transform": {
                    "location": {
                        "x": 944.7749633789062,
                        "y": 3498.033935546875,
                        "z": 370.7319030761719
                    },
                    "rotation": {
                        "roll": 0.0001761851308401674,
                        "pitch": 0.1881648749113083,
                        "yaw": 99.12744903564453
                    }
                },
                "velocity": {
                    "x": -1.2790335416793823,
                    "y": 7.945624351501465,
                    "z": 0.025651033967733383
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.4845913350582123,
        "expert_target_speed": 10.0,
        "target_point": [
            21.010764210383062,
            -7.585635676333565
        ],
        "target_point_next": [
            68.43134448039544,
            -26.354827769629487
        ]
    },
    "520": {
        "acceleration": [
            9.34356689453125,
            -0.2300262451171875,
            -0.03384418785572052
        ],
        "angular_velocity": [
            2.0706303119659424,
            -6.56691312789917,
            -44.705448150634766
        ],
        "forward_vector": [
            -0.36752599477767944,
            0.930013120174408,
            0.0005173683166503906
        ],
        "right_vector": [
            -0.929752767086029,
            -0.3674098253250122,
            -0.023872658610343933
        ],
        "location": [
            945.2705078125,
            3474.12548828125,
            370.6399841308594
        ],
        "rotation": [
            1.3679327964782715,
            0.029643019661307335,
            111.56312561035156
        ],
        "velocity": [
            -4.062350749969482,
            11.1240234375,
            0.047529201954603195
        ],
        "speed": 11.842575355632192,
        "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": 49.15765380859375,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                937.5195922851562,
                3522.66796875,
                370.8011169433594
            ],
            "velocity": [
                -1.2844592332839966,
                7.978570938110352,
                0.021610135212540627
            ],
            "speed_kmh": 29.092788482327624,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.6214599609375,
                        "y": 3551.143310546875,
                        "z": 371.09564208984375
                    },
                    "rotation": {
                        "roll": 3.3350566752687882e-09,
                        "pitch": -0.08414109796285629,
                        "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": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.7679443359375,
                        "y": 3545.83251953125,
                        "z": 370.98846435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.09838887304067612,
                        "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": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.564410209655762,
                "transform": {
                    "location": {
                        "x": 946.2740478515625,
                        "y": 3510.33837890625,
                        "z": 370.7734375
                    },
                    "rotation": {
                        "roll": -0.0018005443271249533,
                        "pitch": -0.24096906185150146,
                        "yaw": -80.67295837402344
                    }
                },
                "velocity": {
                    "x": 1.383955478668213,
                    "y": -8.451814651489258,
                    "z": -0.024837855249643326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.142293930053711,
                "transform": {
                    "location": {
                        "x": 950.3682861328125,
                        "y": 3505.388916015625,
                        "z": 370.7420349121094
                    },
                    "rotation": {
                        "roll": -0.000244140115682967,
                        "pitch": -0.15484720468521118,
                        "yaw": -80.74107360839844
                    }
                },
                "velocity": {
                    "x": 1.3087612390518188,
                    "y": -8.036391258239746,
                    "z": -0.022369159385561943
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.059812545776367,
                "transform": {
                    "location": {
                        "x": 953.3296508789062,
                        "y": 3466.595947265625,
                        "z": 370.61151123046875
                    },
                    "rotation": {
                        "roll": -0.00015260004147421569,
                        "pitch": -0.24139253795146942,
                        "yaw": -80.8584976196289
                    }
                },
                "velocity": {
                    "x": 1.2798548936843872,
                    "y": -7.95747709274292,
                    "z": -0.03310319036245346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031164169311523,
                "transform": {
                    "location": {
                        "x": 957.3198852539062,
                        "y": 3462.256103515625,
                        "z": 370.6202392578125
                    },
                    "rotation": {
                        "roll": 0.00053976388880983,
                        "pitch": -0.2586319148540497,
                        "yaw": -80.87089538574219
                    }
                },
                "velocity": {
                    "x": 1.2758722305297852,
                    "y": -7.929081439971924,
                    "z": -0.03762632608413696
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085653305053711,
                "transform": {
                    "location": {
                        "x": 960.4264526367188,
                        "y": 3422.496826171875,
                        "z": 370.3565673828125
                    },
                    "rotation": {
                        "roll": -0.00021362172265071422,
                        "pitch": -0.38830989599227905,
                        "yaw": -80.85933685302734
                    }
                },
                "velocity": {
                    "x": 1.2844139337539673,
                    "y": -7.9828057289123535,
                    "z": -0.05372007563710213
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007184028625488,
                "transform": {
                    "location": {
                        "x": 964.1613159179688,
                        "y": 3419.738037109375,
                        "z": 370.34283447265625
                    },
                    "rotation": {
                        "roll": 0.0002637687139213085,
                        "pitch": -0.38650673627853394,
                        "yaw": -80.84913635253906
                    }
                },
                "velocity": {
                    "x": 1.2733718156814575,
                    "y": -7.905107021331787,
                    "z": -0.05286624655127525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.3447265625,
                        "y": 3401.905517578125,
                        "z": 370.2154235839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.346229076385498,
                "transform": {
                    "location": {
                        "x": 955.3021850585938,
                        "y": 3432.6328125,
                        "z": 370.4661560058594
                    },
                    "rotation": {
                        "roll": -0.0006713789189234376,
                        "pitch": 0.4350488781929016,
                        "yaw": 99.2420883178711
                    }
                },
                "velocity": {
                    "x": -0.8500280380249023,
                    "y": 5.27811861038208,
                    "z": 0.03285716846585274
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.846357345581055,
                "transform": {
                    "location": {
                        "x": 952.22998046875,
                        "y": 3451.70361328125,
                        "z": 370.54193115234375
                    },
                    "rotation": {
                        "roll": 0.002069107722491026,
                        "pitch": 0.5466610193252563,
                        "yaw": 99.14466857910156
                    }
                },
                "velocity": {
                    "x": -1.881782054901123,
                    "y": 11.695788383483887,
                    "z": 0.0600556842982769
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081330299377441,
                "transform": {
                    "location": {
                        "x": 937.5195922851562,
                        "y": 3522.66796875,
                        "z": 370.8011169433594
                    },
                    "rotation": {
                        "roll": 0.0007507564150728285,
                        "pitch": 0.1501343846321106,
                        "yaw": 99.14546966552734
                    }
                },
                "velocity": {
                    "x": -1.2844592332839966,
                    "y": 7.978570938110352,
                    "z": 0.021610135212540627
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.640361785888672,
                "transform": {
                    "location": {
                        "x": 934.76708984375,
                        "y": 3540.209228515625,
                        "z": 370.850341796875
                    },
                    "rotation": {
                        "roll": 4.173494380665943e-05,
                        "pitch": 0.11903653293848038,
                        "yaw": 99.63290405273438
                    }
                },
                "velocity": {
                    "x": -1.1157125234603882,
                    "y": 6.545947551727295,
                    "z": 0.012724809348583221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00150624243542552,
                "transform": {
                    "location": {
                        "x": 957.7771606445312,
                        "y": 3417.244384765625,
                        "z": 370.3278503417969
                    },
                    "rotation": {
                        "roll": -0.000671384041197598,
                        "pitch": 0.10461800545454025,
                        "yaw": 99.2477798461914
                    }
                },
                "velocity": {
                    "x": -4.3863732571480796e-05,
                    "y": -0.000938525830861181,
                    "z": 0.001177289872430265
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025442123413086,
                "transform": {
                    "location": {
                        "x": 947.4514770507812,
                        "y": 3481.402099609375,
                        "z": 370.6669921875
                    },
                    "rotation": {
                        "roll": 0.00029883658862672746,
                        "pitch": 0.23315532505512238,
                        "yaw": 99.135009765625
                    }
                },
                "velocity": {
                    "x": -1.2749146223068237,
                    "y": 7.923458099365234,
                    "z": 0.03355054929852486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0469331741333,
                "transform": {
                    "location": {
                        "x": 944.4553833007812,
                        "y": 3500.0205078125,
                        "z": 370.7384338378906
                    },
                    "rotation": {
                        "roll": 0.0005809760768897831,
                        "pitch": 0.18897083401679993,
                        "yaw": 99.15764617919922
                    }
                },
                "velocity": {
                    "x": -1.278090238571167,
                    "y": 7.944746494293213,
                    "z": 0.025024814531207085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.5632868409156799,
        "expert_target_speed": 10.0,
        "target_point": [
            18.894062986688017,
            -4.325270419220665
        ],
        "target_point_next": [
            68.70034035514361,
            -15.294716151626561
        ]
    },
    "525": {
        "acceleration": [
            8.06131362915039,
            -1.565093994140625,
            -0.01145876944065094
        ],
        "angular_velocity": [
            0.09971336275339127,
            -1.776645541191101,
            -39.19975280761719
        ],
        "forward_vector": [
            -0.1851167529821396,
            0.9827159643173218,
            -0.0010136364726349711
        ],
        "right_vector": [
            -0.981803297996521,
            -0.1849891096353531,
            -0.04291069880127907
        ],
        "location": [
            944.5318603515625,
            3476.864990234375,
            370.6519775390625
        ],
        "rotation": [
            2.4593584537506104,
            -0.058077096939086914,
            100.6679458618164
        ],
        "velocity": [
            -1.7857022285461426,
            10.844042778015137,
            0.044268254190683365
        ],
        "speed": 10.990086269927861,
        "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": 48.350955963134766,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                937.1995239257812,
                3524.656494140625,
                370.8062744140625
            ],
            "velocity": [
                -1.2718998193740845,
                7.8999457359313965,
                0.021000202745199203
            ],
            "speed_kmh": 28.806144722168387,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.9509887695312,
                        "y": 3549.09521484375,
                        "z": 370.8963623046875
                    },
                    "rotation": {
                        "roll": 3.3350566752687882e-09,
                        "pitch": -0.08414109796285629,
                        "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": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.980212211608887,
                "transform": {
                    "location": {
                        "x": 944.0999755859375,
                        "y": 3543.81396484375,
                        "z": 370.8346252441406
                    },
                    "rotation": {
                        "roll": -0.053558334708213806,
                        "pitch": -0.1409272849559784,
                        "yaw": -80.6014175415039
                    }
                },
                "velocity": {
                    "x": 1.3328683376312256,
                    "y": -7.861889362335205,
                    "z": -0.3129625618457794
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.882814407348633,
                "transform": {
                    "location": {
                        "x": 946.6044311523438,
                        "y": 3508.318115234375,
                        "z": 370.76654052734375
                    },
                    "rotation": {
                        "roll": -0.0026855377946048975,
                        "pitch": -0.12346932291984558,
                        "yaw": -80.71752166748047
                    }
                },
                "velocity": {
                    "x": 1.2637337446212769,
                    "y": -7.780819416046143,
                    "z": -0.024231400340795517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.040472984313965,
                "transform": {
                    "location": {
                        "x": 950.6934204101562,
                        "y": 3503.388916015625,
                        "z": 370.7360534667969
                    },
                    "rotation": {
                        "roll": 0.0011558885453268886,
                        "pitch": -0.1813073605298996,
                        "yaw": -80.77598571777344
                    }
                },
                "velocity": {
                    "x": 1.2850682735443115,
                    "y": -7.937075138092041,
                    "z": -0.02542853355407715
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091858863830566,
                "transform": {
                    "location": {
                        "x": 953.6505126953125,
                        "y": 3464.6025390625,
                        "z": 370.6028747558594
                    },
                    "rotation": {
                        "roll": -0.0007934431196190417,
                        "pitch": -0.24554528295993805,
                        "yaw": -80.8554458618164
                    }
                },
                "velocity": {
                    "x": 1.2859632968902588,
                    "y": -7.988950729370117,
                    "z": -0.03397231176495552
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029022216796875,
                "transform": {
                    "location": {
                        "x": 957.6385498046875,
                        "y": 3460.274658203125,
                        "z": 370.6111755371094
                    },
                    "rotation": {
                        "roll": 0.0023597474209964275,
                        "pitch": -0.25768935680389404,
                        "yaw": -80.84538269042969
                    }
                },
                "velocity": {
                    "x": 1.2755917310714722,
                    "y": -7.926961898803711,
                    "z": -0.03652467206120491
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051639556884766,
                "transform": {
                    "location": {
                        "x": 960.746826171875,
                        "y": 3420.505615234375,
                        "z": 370.3428955078125
                    },
                    "rotation": {
                        "roll": -0.00024413151550106704,
                        "pitch": -0.3886650502681732,
                        "yaw": -80.859375
                    }
                },
                "velocity": {
                    "x": 1.2790313959121704,
                    "y": -7.949223518371582,
                    "z": -0.053095605224370956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065895080566406,
                "transform": {
                    "location": {
                        "x": 964.4808349609375,
                        "y": 3417.75439453125,
                        "z": 370.32928466796875
                    },
                    "rotation": {
                        "roll": -6.099284655647352e-05,
                        "pitch": -0.38742196559906006,
                        "yaw": -80.85072326660156
                    }
                },
                "velocity": {
                    "x": 1.2841572761535645,
                    "y": -7.962831974029541,
                    "z": -0.05393187701702118
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.1074829101562,
                        "y": 3403.38623046875,
                        "z": 370.2274169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.532778739929199,
                "transform": {
                    "location": {
                        "x": 955.0755004882812,
                        "y": 3434.036865234375,
                        "z": 370.47491455078125
                    },
                    "rotation": {
                        "roll": 0.0004547827993519604,
                        "pitch": 0.4643572270870209,
                        "yaw": 99.20966339111328
                    }
                },
                "velocity": {
                    "x": -1.039731502532959,
                    "y": 6.449390888214111,
                    "z": 0.0388939194381237
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.852649688720703,
                "transform": {
                    "location": {
                        "x": 951.7385864257812,
                        "y": 3454.7568359375,
                        "z": 370.5573425292969
                    },
                    "rotation": {
                        "roll": -6.102041879785247e-05,
                        "pitch": 0.49616539478302,
                        "yaw": 99.14171600341797
                    }
                },
                "velocity": {
                    "x": -2.0420572757720947,
                    "y": 12.689245223999023,
                    "z": 0.06064795330166817
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.001707077026367,
                "transform": {
                    "location": {
                        "x": 937.1995239257812,
                        "y": 3524.656494140625,
                        "z": 370.8062744140625
                    },
                    "rotation": {
                        "roll": 0.0009916743729263544,
                        "pitch": 0.14192448556423187,
                        "yaw": 99.14442443847656
                    }
                },
                "velocity": {
                    "x": -1.2718998193740845,
                    "y": 7.8999457359313965,
                    "z": 0.021000202745199203
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.54147481918335,
                "transform": {
                    "location": {
                        "x": 934.4908447265625,
                        "y": 3541.8330078125,
                        "z": 370.8533935546875
                    },
                    "rotation": {
                        "roll": 7.630612344655674e-06,
                        "pitch": 0.09765120595693588,
                        "yaw": 99.65015411376953
                    }
                },
                "velocity": {
                    "x": -1.097941517829895,
                    "y": 6.448668003082275,
                    "z": 0.009853210300207138
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0797611474990845,
                "transform": {
                    "location": {
                        "x": 957.7526245117188,
                        "y": 3417.3955078125,
                        "z": 370.3293762207031
                    },
                    "rotation": {
                        "roll": 0.002074046293273568,
                        "pitch": 0.42425718903541565,
                        "yaw": 99.29074096679688
                    }
                },
                "velocity": {
                    "x": -0.1717800498008728,
                    "y": 1.0659900903701782,
                    "z": 0.006396732293069363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02570629119873,
                "transform": {
                    "location": {
                        "x": 947.1326904296875,
                        "y": 3483.3828125,
                        "z": 370.6749572753906
                    },
                    "rotation": {
                        "roll": 0.0005555444513447583,
                        "pitch": 0.23372222483158112,
                        "yaw": 99.15666198730469
                    }
                },
                "velocity": {
                    "x": -1.2752177715301514,
                    "y": 7.92368221282959,
                    "z": 0.03224197402596474
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048810958862305,
                "transform": {
                    "location": {
                        "x": 944.1356811523438,
                        "y": 3502.0068359375,
                        "z": 370.744873046875
                    },
                    "rotation": {
                        "roll": 0.0005405748379416764,
                        "pitch": 0.183759406208992,
                        "yaw": 99.12754821777344
                    }
                },
                "velocity": {
                    "x": -1.2782485485076904,
                    "y": 7.946620464324951,
                    "z": 0.025674456730484962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.26900044083595276,
        "expert_target_speed": 10.0,
        "target_point": [
            16.542132486937486,
            -0.8948267307452116
        ],
        "target_point_next": [
            67.52399954309607,
            -2.2524851737649865
        ]
    },
    "530": {
        "acceleration": [
            2.1889305114746094,
            0.09008407592773438,
            0.0002706795930862427
        ],
        "angular_velocity": [
            0.45339253544807434,
            3.891964912414551,
            -14.639034271240234
        ],
        "forward_vector": [
            -0.07128962129354477,
            0.9974556565284729,
            0.00014770030975341797
        ],
        "right_vector": [
            -0.9968955516815186,
            -0.07124462723731995,
            -0.033517785370349884
        ],
        "location": [
            944.2202758789062,
            3479.53466796875,
            370.6624450683594
        ],
        "rotation": [
            1.9207874536514282,
            0.008462604135274887,
            94.08806610107422
        ],
        "velocity": [
            -0.7368824481964111,
            10.65241813659668,
            0.04475391283631325
        ],
        "speed": 10.677874690187828,
        "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": 47.55174255371094,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                936.899658203125,
                3526.519287109375,
                370.8112487792969
            ],
            "velocity": [
                -1.1226062774658203,
                6.97316837310791,
                0.017766017466783524
            ],
            "speed_kmh": 25.426715554373505,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.787014007568359,
                "transform": {
                    "location": {
                        "x": 940.2655029296875,
                        "y": 3547.1494140625,
                        "z": 370.87646484375
                    },
                    "rotation": {
                        "roll": -0.018463104963302612,
                        "pitch": -0.37610435485839844,
                        "yaw": -80.79766082763672
                    }
                },
                "velocity": {
                    "x": 1.1067335605621338,
                    "y": -6.695148944854736,
                    "z": -0.11696751415729523
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.225777626037598,
                "transform": {
                    "location": {
                        "x": 944.4378662109375,
                        "y": 3541.813720703125,
                        "z": 370.82720947265625
                    },
                    "rotation": {
                        "roll": -0.01385497860610485,
                        "pitch": -0.11260931938886642,
                        "yaw": -80.34709930419922
                    }
                },
                "velocity": {
                    "x": 1.384734869003296,
                    "y": -8.10758113861084,
                    "z": 0.11428707093000412
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999591827392578,
                "transform": {
                    "location": {
                        "x": 946.9200439453125,
                        "y": 3506.375,
                        "z": 370.7610168457031
                    },
                    "rotation": {
                        "roll": -0.0014648411888629198,
                        "pitch": -0.1624765247106552,
                        "yaw": -80.7690200805664
                    }
                },
                "velocity": {
                    "x": 1.2799336910247803,
                    "y": -7.896502494812012,
                    "z": -0.02221323363482952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.005873680114746,
                "transform": {
                    "location": {
                        "x": 951.0131225585938,
                        "y": 3501.416259765625,
                        "z": 370.7296447753906
                    },
                    "rotation": {
                        "roll": -6.102513361838646e-05,
                        "pitch": -0.18985192477703094,
                        "yaw": -80.79795837402344
                    }
                },
                "velocity": {
                    "x": 1.2803629636764526,
                    "y": -7.90278434753418,
                    "z": -0.026186469942331314
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063578605651855,
                "transform": {
                    "location": {
                        "x": 953.971435546875,
                        "y": 3462.608642578125,
                        "z": 370.5942077636719
                    },
                    "rotation": {
                        "roll": -0.00015258693019859493,
                        "pitch": -0.25982722640037537,
                        "yaw": -80.8547592163086
                    }
                },
                "velocity": {
                    "x": 1.2815706729888916,
                    "y": -7.961008548736572,
                    "z": -0.03494605794548988
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030962944030762,
                "transform": {
                    "location": {
                        "x": 957.9574584960938,
                        "y": 3458.29248046875,
                        "z": 370.6021423339844
                    },
                    "rotation": {
                        "roll": 0.0006236478802748024,
                        "pitch": -0.2579352557659149,
                        "yaw": -80.8802261352539
                    }
                },
                "velocity": {
                    "x": 1.274433970451355,
                    "y": -7.929112911224365,
                    "z": -0.036742985248565674
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085354804992676,
                "transform": {
                    "location": {
                        "x": 961.0673828125,
                        "y": 3418.513916015625,
                        "z": 370.3292541503906
                    },
                    "rotation": {
                        "roll": -6.1019538406981155e-05,
                        "pitch": -0.3884943127632141,
                        "yaw": -80.85454559326172
                    }
                },
                "velocity": {
                    "x": 1.283987045288086,
                    "y": -7.98257303237915,
                    "z": -0.05357644334435463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00786304473877,
                "transform": {
                    "location": {
                        "x": 964.80029296875,
                        "y": 3415.771240234375,
                        "z": 370.3156433105469
                    },
                    "rotation": {
                        "roll": -0.0003967470838688314,
                        "pitch": -0.38971006870269775,
                        "yaw": -80.84928894042969
                    }
                },
                "velocity": {
                    "x": 1.2734524011611938,
                    "y": -7.905752182006836,
                    "z": -0.057177212089300156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.8440551757812,
                        "y": 3405.03173828125,
                        "z": 370.2406921386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.436746597290039,
                "transform": {
                    "location": {
                        "x": 954.7677001953125,
                        "y": 3435.944091796875,
                        "z": 370.48583984375
                    },
                    "rotation": {
                        "roll": 0.0011594740208238363,
                        "pitch": 0.5298245549201965,
                        "yaw": 99.1679458618164
                    }
                },
                "velocity": {
                    "x": -1.3416156768798828,
                    "y": 8.329238891601562,
                    "z": 0.05034935846924782
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.347172737121582,
                "transform": {
                    "location": {
                        "x": 951.230224609375,
                        "y": 3457.916259765625,
                        "z": 370.5718688964844
                    },
                    "rotation": {
                        "roll": 0.0011724007781594992,
                        "pitch": 0.23120872676372528,
                        "yaw": 99.13922119140625
                    }
                },
                "velocity": {
                    "x": -1.9601000547409058,
                    "y": 12.190469741821289,
                    "z": 0.05573863908648491
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.062976837158203,
                "transform": {
                    "location": {
                        "x": 936.899658203125,
                        "y": 3526.519287109375,
                        "z": 370.8112487792969
                    },
                    "rotation": {
                        "roll": 0.00017845912952907383,
                        "pitch": 0.1248968318104744,
                        "yaw": 99.1452865600586
                    }
                },
                "velocity": {
                    "x": -1.1226062774658203,
                    "y": 6.97316837310791,
                    "z": 0.017766017466783524
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.063325881958008,
                "transform": {
                    "location": {
                        "x": 934.2305908203125,
                        "y": 3543.36962890625,
                        "z": 370.85552978515625
                    },
                    "rotation": {
                        "roll": -0.004455563146620989,
                        "pitch": 0.13305890560150146,
                        "yaw": 99.60758972167969
                    }
                },
                "velocity": {
                    "x": -0.9944069981575012,
                    "y": 5.981218338012695,
                    "z": 0.010161141864955425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0479283332824707,
                "transform": {
                    "location": {
                        "x": 957.6884155273438,
                        "y": 3417.79345703125,
                        "z": 370.3321838378906
                    },
                    "rotation": {
                        "roll": 0.0009466870105825365,
                        "pitch": 0.5191899538040161,
                        "yaw": 99.23906707763672
                    }
                },
                "velocity": {
                    "x": -0.32663917541503906,
                    "y": 2.021662950515747,
                    "z": 0.014016513712704182
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026256561279297,
                "transform": {
                    "location": {
                        "x": 946.814208984375,
                        "y": 3485.3642578125,
                        "z": 370.6828918457031
                    },
                    "rotation": {
                        "roll": 0.002284957328811288,
                        "pitch": 0.23366758227348328,
                        "yaw": 99.1172103881836
                    }
                },
                "velocity": {
                    "x": -1.2726012468338013,
                    "y": 7.924661159515381,
                    "z": 0.031967420130968094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046795845031738,
                "transform": {
                    "location": {
                        "x": 943.8159790039062,
                        "y": 3503.99267578125,
                        "z": 370.7510986328125
                    },
                    "rotation": {
                        "roll": -0.00012207680265419185,
                        "pitch": 0.16754452884197235,
                        "yaw": 99.16343688964844
                    }
                },
                "velocity": {
                    "x": -1.2789158821105957,
                    "y": 7.944473743438721,
                    "z": 0.025319794192910194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.032760653644800186,
        "expert_target_speed": 10.0,
        "target_point": [
            13.850609839527499,
            0.8861228897059213
        ],
        "target_point_next": [
            64.65223689949653,
            5.379305841640237
        ]
    },
    "535": {
        "acceleration": [
            -0.38929224014282227,
            2.3611831665039062,
            -0.0021501630544662476
        ],
        "angular_velocity": [
            0.7952650189399719,
            3.6521711349487305,
            3.271909236907959
        ],
        "forward_vector": [
            -0.056532543152570724,
            0.9983921647071838,
            0.0041386960074305534
        ],
        "right_vector": [
            -0.9982894062995911,
            -0.056463830173015594,
            -0.015171063132584095
        ],
        "location": [
            944.04443359375,
            3482.235595703125,
            370.67242431640625
        ],
        "rotation": [
            0.8692787289619446,
            0.23713049292564392,
            93.24082946777344
        ],
        "velocity": [
            -0.6514925956726074,
            11.025248527526855,
            0.04507061839103699
        ],
        "speed": 11.0444804176543,
        "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": 46.400604248046875,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                936.6543579101562,
                3528.043701171875,
                370.815185546875
            ],
            "velocity": [
                -0.8969513773918152,
                5.572684288024902,
                0.013766288757324219
            ],
            "speed_kmh": 20.319926134145184,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.98655366897583,
                "transform": {
                    "location": {
                        "x": 940.5531005859375,
                        "y": 3545.44921875,
                        "z": 370.8584289550781
                    },
                    "rotation": {
                        "roll": -0.02679443359375,
                        "pitch": -0.17715460062026978,
                        "yaw": -80.43074798583984
                    }
                },
                "velocity": {
                    "x": 1.1792356967926025,
                    "y": -6.886205196380615,
                    "z": -0.038868021219968796
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.002520561218262,
                "transform": {
                    "location": {
                        "x": 944.7789916992188,
                        "y": 3539.8154296875,
                        "z": 370.8497619628906
                    },
                    "rotation": {
                        "roll": -0.0021667485125362873,
                        "pitch": -0.11801200360059738,
                        "yaw": -80.26860046386719
                    }
                },
                "velocity": {
                    "x": 1.350721001625061,
                    "y": -7.887621879577637,
                    "z": 0.0361299030482769
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.086067199707031,
                "transform": {
                    "location": {
                        "x": 947.2435913085938,
                        "y": 3504.3798828125,
                        "z": 370.7553405761719
                    },
                    "rotation": {
                        "roll": -0.001983639318495989,
                        "pitch": -0.18035796284675598,
                        "yaw": -80.7890396118164
                    }
                },
                "velocity": {
                    "x": 1.2924476861953735,
                    "y": -7.9820780754089355,
                    "z": -0.022020721808075905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.104966163635254,
                "transform": {
                    "location": {
                        "x": 951.3356323242188,
                        "y": 3499.42333984375,
                        "z": 370.7229919433594
                    },
                    "rotation": {
                        "roll": 0.000298055267194286,
                        "pitch": -0.18539181351661682,
                        "yaw": -80.8079605102539
                    }
                },
                "velocity": {
                    "x": 1.29263436794281,
                    "y": -8.001182556152344,
                    "z": -0.025541648268699646
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092267990112305,
                "transform": {
                    "location": {
                        "x": 954.2922973632812,
                        "y": 3460.614501953125,
                        "z": 370.5851745605469
                    },
                    "rotation": {
                        "roll": 0.00021287196432240307,
                        "pitch": -0.2604009509086609,
                        "yaw": -80.85984802246094
                    }
                },
                "velocity": {
                    "x": 1.2853366136550903,
                    "y": -7.989451885223389,
                    "z": -0.03698118031024933
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030599594116211,
                "transform": {
                    "location": {
                        "x": 958.2760009765625,
                        "y": 3456.309814453125,
                        "z": 370.5930480957031
                    },
                    "rotation": {
                        "roll": -0.00021363236010074615,
                        "pitch": -0.2604009509086609,
                        "yaw": -80.84935760498047
                    }
                },
                "velocity": {
                    "x": 1.276753306388855,
                    "y": -7.928360939025879,
                    "z": -0.03894258290529251
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052204132080078,
                "transform": {
                    "location": {
                        "x": 961.387939453125,
                        "y": 3416.5224609375,
                        "z": 370.3155517578125
                    },
                    "rotation": {
                        "roll": -0.0008239771123044193,
                        "pitch": -0.3878181278705597,
                        "yaw": -80.85563659667969
                    }
                },
                "velocity": {
                    "x": 1.2803335189819336,
                    "y": -7.949581146240234,
                    "z": -0.05385148897767067
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.1091918945312,
                        "y": 3413.770751953125,
                        "z": 370.3008117675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.41665518283843994,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.4468383789062,
                        "y": 3407.499267578125,
                        "z": 370.25982666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.739947319030762,
                "transform": {
                    "location": {
                        "x": 954.403564453125,
                        "y": 3438.202392578125,
                        "z": 370.49957275390625
                    },
                    "rotation": {
                        "roll": 0.0005557465483434498,
                        "pitch": 0.4852302670478821,
                        "yaw": 99.15878295898438
                    }
                },
                "velocity": {
                    "x": -1.5503164529800415,
                    "y": 9.615608215332031,
                    "z": 0.05635249987244606
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.352757453918457,
                "transform": {
                    "location": {
                        "x": 950.7664794921875,
                        "y": 3460.79931640625,
                        "z": 370.5848388671875
                    },
                    "rotation": {
                        "roll": 0.00018971142708323896,
                        "pitch": 0.09417464584112167,
                        "yaw": 99.13727569580078
                    }
                },
                "velocity": {
                    "x": -1.802794098854065,
                    "y": 11.208582878112793,
                    "z": 0.051994819194078445
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.644423961639404,
                "transform": {
                    "location": {
                        "x": 936.6543579101562,
                        "y": 3528.043701171875,
                        "z": 370.815185546875
                    },
                    "rotation": {
                        "roll": -6.103826308390126e-05,
                        "pitch": 0.11410513520240784,
                        "yaw": 99.14389038085938
                    }
                },
                "velocity": {
                    "x": -0.8969513773918152,
                    "y": 5.572684288024902,
                    "z": 0.013766288757324219
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.541288375854492,
                "transform": {
                    "location": {
                        "x": 933.9752807617188,
                        "y": 3544.904296875,
                        "z": 370.85870361328125
                    },
                    "rotation": {
                        "roll": -0.0015869189519435167,
                        "pitch": 0.05343939736485481,
                        "yaw": 99.49504852294922
                    }
                },
                "velocity": {
                    "x": -1.0677642822265625,
                    "y": 6.453544616699219,
                    "z": 0.009545602835714817
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3378586769104004,
                "transform": {
                    "location": {
                        "x": 957.58349609375,
                        "y": 3418.443603515625,
                        "z": 370.3367614746094
                    },
                    "rotation": {
                        "roll": 0.0020995354279875755,
                        "pitch": 0.5760239958763123,
                        "yaw": 99.21099090576172
                    }
                },
                "velocity": {
                    "x": -0.5316005945205688,
                    "y": 3.2951745986938477,
                    "z": 0.022945242002606392
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025420188903809,
                "transform": {
                    "location": {
                        "x": 946.49560546875,
                        "y": 3487.34521484375,
                        "z": 370.6905822753906
                    },
                    "rotation": {
                        "roll": -0.0010681252460926771,
                        "pitch": 0.21918758749961853,
                        "yaw": 99.152099609375
                    }
                },
                "velocity": {
                    "x": -1.2757900953292847,
                    "y": 7.923312187194824,
                    "z": 0.029053419828414917
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048832893371582,
                "transform": {
                    "location": {
                        "x": 943.4961547851562,
                        "y": 3505.979248046875,
                        "z": 370.7569580078125
                    },
                    "rotation": {
                        "roll": 0.0005438094376586378,
                        "pitch": 0.1685144156217575,
                        "yaw": 99.13212585449219
                    }
                },
                "velocity": {
                    "x": -1.2798646688461304,
                    "y": 7.946384906768799,
                    "z": 0.024791449308395386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.17022836208343506,
        "expert_target_speed": 10.0,
        "target_point": [
            11.129442383996345,
            1.0679741831388614
        ],
        "target_point_next": [
            61.85906996098169,
            6.3119126724899175
        ]
    },
    "540": {
        "acceleration": [
            -0.9313869476318359,
            3.1982040405273438,
            -0.005249381065368652
        ],
        "angular_velocity": [
            0.4816969931125641,
            1.8765640258789062,
            2.884509563446045
        ],
        "forward_vector": [
            -0.07039345800876617,
            0.9974879622459412,
            0.00790194422006607
        ],
        "right_vector": [
            -0.9975149035453796,
            -0.0703674703836441,
            -0.003519955324009061
        ],
        "location": [
            943.8541870117188,
            3485.087646484375,
            370.68292236328125
        ],
        "rotation": [
            0.20168529450893402,
            0.4527527391910553,
            94.03671264648438
        ],
        "velocity": [
            -0.8512203097343445,
            11.773882865905762,
            0.04507141932845116
        ],
        "speed": 11.804613240414676,
        "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": 44.94812774658203,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                936.4330444335938,
                3529.418701171875,
                370.81842041015625
            ],
            "velocity": [
                -0.9071568846702576,
                5.635815143585205,
                0.014069375582039356
            ],
            "speed_kmh": 20.550149606716765,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.771155834197998,
                "transform": {
                    "location": {
                        "x": 940.8451538085938,
                        "y": 3543.755126953125,
                        "z": 370.8525390625
                    },
                    "rotation": {
                        "roll": -0.015686029568314552,
                        "pitch": -0.11743143945932388,
                        "yaw": -80.23442077636719
                    }
                },
                "velocity": {
                    "x": 1.1562588214874268,
                    "y": -6.671681880950928,
                    "z": -0.01671452447772026
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.216461181640625,
                "transform": {
                    "location": {
                        "x": 945.1193237304688,
                        "y": 3537.81640625,
                        "z": 370.84686279296875
                    },
                    "rotation": {
                        "roll": 0.016033146530389786,
                        "pitch": -0.11849694699048996,
                        "yaw": -80.34101867675781
                    }
                },
                "velocity": {
                    "x": 1.3615930080413818,
                    "y": -8.102774620056152,
                    "z": -0.03660384938120842
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029036521911621,
                "transform": {
                    "location": {
                        "x": 947.5651245117188,
                        "y": 3502.392822265625,
                        "z": 370.74896240234375
                    },
                    "rotation": {
                        "roll": -0.0017700273310765624,
                        "pitch": -0.1728857457637787,
                        "yaw": -80.81059265136719
                    }
                },
                "velocity": {
                    "x": 1.2802281379699707,
                    "y": -7.926270484924316,
                    "z": -0.026204118505120277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.002373695373535,
                "transform": {
                    "location": {
                        "x": 951.65625,
                        "y": 3497.4375,
                        "z": 370.7164306640625
                    },
                    "rotation": {
                        "roll": 4.8031699407147244e-05,
                        "pitch": -0.18948309123516083,
                        "yaw": -80.83036804199219
                    }
                },
                "velocity": {
                    "x": 1.2738325595855713,
                    "y": -7.900295734405518,
                    "z": -0.025649404153227806
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061356544494629,
                "transform": {
                    "location": {
                        "x": 954.6129760742188,
                        "y": 3458.62158203125,
                        "z": 370.5760498046875
                    },
                    "rotation": {
                        "roll": -0.00042723797378130257,
                        "pitch": -0.25829723477363586,
                        "yaw": -80.86121368408203
                    }
                },
                "velocity": {
                    "x": 1.2803717851638794,
                    "y": -7.958941459655762,
                    "z": -0.03692564740777016
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03176212310791,
                "transform": {
                    "location": {
                        "x": 958.5952758789062,
                        "y": 3454.328125,
                        "z": 370.5834045410156
                    },
                    "rotation": {
                        "roll": 0.00025438773445785046,
                        "pitch": -0.28851401805877686,
                        "yaw": -80.86616516113281
                    }
                },
                "velocity": {
                    "x": 1.2768124341964722,
                    "y": -7.929520606994629,
                    "z": -0.04076121747493744
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.6958618164062,
                        "y": 3414.501708984375,
                        "z": 370.3023681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.41665518283843994,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4836,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.375732421875,
                        "y": 3411.70361328125,
                        "z": 370.28424072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.41665518283843994,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.1820068359375,
                        "y": 3409.144287109375,
                        "z": 370.2723693847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.969963073730469,
                "transform": {
                    "location": {
                        "x": 953.9998168945312,
                        "y": 3440.710205078125,
                        "z": 370.5142517089844
                    },
                    "rotation": {
                        "roll": 0.0028143783565610647,
                        "pitch": 0.48428770899772644,
                        "yaw": 99.1422119140625
                    }
                },
                "velocity": {
                    "x": -1.7430572509765625,
                    "y": 10.830413818359375,
                    "z": 0.06308795511722565
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.944620132446289,
                "transform": {
                    "location": {
                        "x": 950.306396484375,
                        "y": 3463.660888671875,
                        "z": 370.5976867675781
                    },
                    "rotation": {
                        "roll": 0.0006833619554527104,
                        "pitch": 0.30372482538223267,
                        "yaw": 99.13623809814453
                    }
                },
                "velocity": {
                    "x": -1.896555781364441,
                    "y": 11.792974472045898,
                    "z": 0.052635736763477325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.708374977111816,
                "transform": {
                    "location": {
                        "x": 936.4330444335938,
                        "y": 3529.418701171875,
                        "z": 370.81842041015625
                    },
                    "rotation": {
                        "roll": 0.0007047454710118473,
                        "pitch": 0.13873478770256042,
                        "yaw": 99.14385986328125
                    }
                },
                "velocity": {
                    "x": -0.9071568846702576,
                    "y": 5.635815143585205,
                    "z": 0.014069375582039356
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.204949855804443,
                "transform": {
                    "location": {
                        "x": 933.6892700195312,
                        "y": 3546.62939453125,
                        "z": 370.8616638183594
                    },
                    "rotation": {
                        "roll": 0.0004566105781123042,
                        "pitch": 0.034792982041835785,
                        "yaw": 99.44277954101562
                    }
                },
                "velocity": {
                    "x": -1.1763482093811035,
                    "y": 7.1082634925842285,
                    "z": 0.009847859852015972
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.811290264129639,
                "transform": {
                    "location": {
                        "x": 957.4191284179688,
                        "y": 3419.463134765625,
                        "z": 370.3437805175781
                    },
                    "rotation": {
                        "roll": 0.0014162521110847592,
                        "pitch": 0.6158371567726135,
                        "yaw": 99.18221282958984
                    }
                },
                "velocity": {
                    "x": -0.7652439475059509,
                    "y": 4.749938488006592,
                    "z": 0.03162742406129837
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025247573852539,
                "transform": {
                    "location": {
                        "x": 946.1767578125,
                        "y": 3489.326416015625,
                        "z": 370.6979064941406
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": 0.21178366243839264,
                        "yaw": 99.12826538085938
                    }
                },
                "velocity": {
                    "x": -1.2749049663543701,
                    "y": 7.92327880859375,
                    "z": 0.02937854640185833
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04732608795166,
                "transform": {
                    "location": {
                        "x": 943.1763916015625,
                        "y": 3507.965576171875,
                        "z": 370.7628173828125
                    },
                    "rotation": {
                        "roll": -0.00012207013787701726,
                        "pitch": 0.16835732758045197,
                        "yaw": 99.16293334960938
                    }
                },
                "velocity": {
                    "x": -1.2787693738937378,
                    "y": 7.945035934448242,
                    "z": 0.024643773213028908
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2752531170845032,
        "expert_target_speed": 10.0,
        "target_point": [
            8.284835999847287,
            0.9242680596299743
        ],
        "target_point_next": [
            59.082412552086964,
            5.463014736751242
        ]
    },
    "545": {
        "acceleration": [
            -2.1742796897888184,
            2.5921630859375,
            0.0007817894220352173
        ],
        "angular_velocity": [
            -0.09678451716899872,
            1.9270812273025513,
            7.516165256500244
        ],
        "forward_vector": [
            -0.08680425584316254,
            0.996182918548584,
            0.009196748025715351
        ],
        "right_vector": [
            -0.996218740940094,
            -0.08683373034000397,
            0.002854251768440008
        ],
        "location": [
            943.6105346679688,
            3488.13427734375,
            370.694091796875
        ],
        "rotation": [
            -0.1635437309741974,
            0.526942253112793,
            94.97999572753906
        ],
        "velocity": [
            -1.171883225440979,
            12.530165672302246,
            0.04568935185670853
        ],
        "speed": 12.584846525461149,
        "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": 43.4134407043457,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                936.193115234375,
                3530.9091796875,
                370.8218994140625
            ],
            "velocity": [
                -0.979327380657196,
                6.084780693054199,
                0.01387844979763031
            ],
            "speed_kmh": 22.1871685288864,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.659061908721924,
                "transform": {
                    "location": {
                        "x": 941.0940551757812,
                        "y": 3542.286376953125,
                        "z": 370.849365234375
                    },
                    "rotation": {
                        "roll": 0.0054636066779494286,
                        "pitch": -0.25918516516685486,
                        "yaw": -80.35542297363281
                    }
                },
                "velocity": {
                    "x": 0.9407821297645569,
                    "y": -5.580300807952881,
                    "z": -0.012319621630012989
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.9888386726379395,
                "transform": {
                    "location": {
                        "x": 945.4542236328125,
                        "y": 3535.819580078125,
                        "z": 370.8384704589844
                    },
                    "rotation": {
                        "roll": 0.013412022963166237,
                        "pitch": -0.12088067829608917,
                        "yaw": -80.51564025878906
                    }
                },
                "velocity": {
                    "x": 1.3096232414245605,
                    "y": -7.880722522735596,
                    "z": -0.025212697684764862
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.001949310302734,
                "transform": {
                    "location": {
                        "x": 947.88427734375,
                        "y": 3500.416748046875,
                        "z": 370.74261474609375
                    },
                    "rotation": {
                        "roll": 6.6701426604254266e-09,
                        "pitch": -0.18917573988437653,
                        "yaw": -80.82218170166016
                    }
                },
                "velocity": {
                    "x": 1.276293396949768,
                    "y": -7.899468898773193,
                    "z": -0.025677351281046867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082670211791992,
                "transform": {
                    "location": {
                        "x": 951.9763793945312,
                        "y": 3495.45263671875,
                        "z": 370.7096862792969
                    },
                    "rotation": {
                        "roll": 0.00014976477541495115,
                        "pitch": -0.19601276516914368,
                        "yaw": -80.83805847167969
                    }
                },
                "velocity": {
                    "x": 1.2871073484420776,
                    "y": -7.979475975036621,
                    "z": -0.02964637614786625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092202186584473,
                "transform": {
                    "location": {
                        "x": 954.9336547851562,
                        "y": 3456.627685546875,
                        "z": 370.56695556640625
                    },
                    "rotation": {
                        "roll": -3.0509374482790008e-05,
                        "pitch": -0.25803086161613464,
                        "yaw": -80.86155700683594
                    }
                },
                "velocity": {
                    "x": 1.2852293252944946,
                    "y": -7.989402770996094,
                    "z": -0.036926206201314926
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03155517578125,
                "transform": {
                    "location": {
                        "x": 958.9143676757812,
                        "y": 3452.345458984375,
                        "z": 370.5732421875
                    },
                    "rotation": {
                        "roll": 0.0002088304900098592,
                        "pitch": -0.29656678438186646,
                        "yaw": -80.83580017089844
                    }
                },
                "velocity": {
                    "x": 1.2775129079818726,
                    "y": -7.929196834564209,
                    "z": -0.04084548354148865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4837,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.9844970703125,
                        "y": 3412.43798828125,
                        "z": 370.2901916503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.41665518283843994,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.9174194335938,
                        "y": 3410.78955078125,
                        "z": 370.28472900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.073295593261719,
                "transform": {
                    "location": {
                        "x": 953.5393676757812,
                        "y": 3443.573974609375,
                        "z": 370.5311279296875
                    },
                    "rotation": {
                        "roll": 0.0010201064869761467,
                        "pitch": 0.46641993522644043,
                        "yaw": 99.13388061523438
                    }
                },
                "velocity": {
                    "x": -1.9168202877044678,
                    "y": 11.91996955871582,
                    "z": 0.06776285171508789
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.309293746948242,
                "transform": {
                    "location": {
                        "x": 949.8175048828125,
                        "y": 3466.701171875,
                        "z": 370.61077880859375
                    },
                    "rotation": {
                        "roll": -0.0005798277561552823,
                        "pitch": 0.3148922026157379,
                        "yaw": 99.13610076904297
                    }
                },
                "velocity": {
                    "x": -1.9544203281402588,
                    "y": 12.153037071228027,
                    "z": 0.051543157547712326
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.163102149963379,
                "transform": {
                    "location": {
                        "x": 936.193115234375,
                        "y": 3530.9091796875,
                        "z": 370.8218994140625
                    },
                    "rotation": {
                        "roll": 0.00014461504179053009,
                        "pitch": 0.14673294126987457,
                        "yaw": 99.14349365234375
                    }
                },
                "velocity": {
                    "x": -0.979327380657196,
                    "y": 6.084780693054199,
                    "z": 0.01387844979763031
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.932780742645264,
                "transform": {
                    "location": {
                        "x": 933.3641357421875,
                        "y": 3548.598876953125,
                        "z": 370.8647155761719
                    },
                    "rotation": {
                        "roll": -0.003417967353016138,
                        "pitch": 0.032122377306222916,
                        "yaw": 99.37149810791016
                    }
                },
                "velocity": {
                    "x": -1.2796908617019653,
                    "y": 7.828871250152588,
                    "z": 0.013177375309169292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.427896499633789,
                "transform": {
                    "location": {
                        "x": 957.2096557617188,
                        "y": 3420.763671875,
                        "z": 370.35284423828125
                    },
                    "rotation": {
                        "roll": -0.00027465930907055736,
                        "pitch": 0.5136575102806091,
                        "yaw": 99.1608657836914
                    }
                },
                "velocity": {
                    "x": -0.8625431060791016,
                    "y": 5.358801364898682,
                    "z": 0.036407630890607834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02652359008789,
                "transform": {
                    "location": {
                        "x": 945.8579711914062,
                        "y": 3491.3076171875,
                        "z": 370.70513916015625
                    },
                    "rotation": {
                        "roll": -0.001434329547919333,
                        "pitch": 0.21297894418239594,
                        "yaw": 99.15869903564453
                    }
                },
                "velocity": {
                    "x": -1.2755366563796997,
                    "y": 7.9244704246521,
                    "z": 0.02930709719657898
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048738479614258,
                "transform": {
                    "location": {
                        "x": 942.856689453125,
                        "y": 3509.951904296875,
                        "z": 370.7686767578125
                    },
                    "rotation": {
                        "roll": 0.00040782534051686525,
                        "pitch": 0.16595309972763062,
                        "yaw": 99.12928771972656
                    }
                },
                "velocity": {
                    "x": -1.278412938117981,
                    "y": 7.946528911590576,
                    "z": 0.02317420020699501
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3565034568309784,
        "expert_target_speed": 10.0,
        "target_point": [
            56.1080610509821,
            4.511352136671029
        ],
        "target_point_next": [
            82.2989080746945,
            6.417467916843023
        ]
    },
    "550": {
        "acceleration": [
            -2.1305370330810547,
            -0.3194236755371094,
            0.0028549134731292725
        ],
        "angular_velocity": [
            -0.866644024848938,
            0.9136156439781189,
            9.551423072814941
        ],
        "forward_vector": [
            -0.12910959124565125,
            0.9916055202484131,
            0.007005633786320686
        ],
        "right_vector": [
            -0.9915782809257507,
            -0.1291719526052475,
            0.00932922214269638
        ],
        "location": [
            943.25146484375,
            3491.2939453125,
            370.70599365234375
        ],
        "rotation": [
            -0.5345458984375,
            0.4013965427875519,
            97.41832733154297
        ],
        "velocity": [
            -1.7130590677261353,
            12.63909912109375,
            0.04510992765426636
        ],
        "speed": 12.75466181293536,
        "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": 41.97572326660156,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                935.9171752929688,
                3532.623779296875,
                370.8257751464844
            ],
            "velocity": [
                -1.1773730516433716,
                7.314748287200928,
                0.015532626770436764
            ],
            "speed_kmh": 26.672086612629275,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.815191268920898,
                "transform": {
                    "location": {
                        "x": 941.332763671875,
                        "y": 3540.8662109375,
                        "z": 370.84661865234375
                    },
                    "rotation": {
                        "roll": 0.0025734538212418556,
                        "pitch": -0.1305522322654724,
                        "yaw": -80.4343490600586
                    }
                },
                "velocity": {
                    "x": 0.962635338306427,
                    "y": -5.7349534034729,
                    "z": -0.009770135395228863
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.209710121154785,
                "transform": {
                    "location": {
                        "x": 945.785888671875,
                        "y": 3533.8212890625,
                        "z": 370.8338928222656
                    },
                    "rotation": {
                        "roll": 0.00685114786028862,
                        "pitch": -0.12088067829608917,
                        "yaw": -80.6148910522461
                    }
                },
                "velocity": {
                    "x": 1.3321821689605713,
                    "y": -8.100886344909668,
                    "z": -0.016668833792209625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.077033996582031,
                "transform": {
                    "location": {
                        "x": 948.205078125,
                        "y": 3498.4306640625,
                        "z": 370.7360534667969
                    },
                    "rotation": {
                        "roll": 0.0004520689544733614,
                        "pitch": -0.18970166146755219,
                        "yaw": -80.82695007324219
                    }
                },
                "velocity": {
                    "x": 1.2875313758850098,
                    "y": -7.9737114906311035,
                    "z": -0.025956615805625916
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024632453918457,
                "transform": {
                    "location": {
                        "x": 952.2969970703125,
                        "y": 3493.464599609375,
                        "z": 370.70257568359375
                    },
                    "rotation": {
                        "roll": 0.0006794482469558716,
                        "pitch": -0.20926332473754883,
                        "yaw": -80.84008026123047
                    }
                },
                "velocity": {
                    "x": 1.276035189628601,
                    "y": -7.9224748611450195,
                    "z": -0.02918459288775921
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063505172729492,
                "transform": {
                    "location": {
                        "x": 955.2544555664062,
                        "y": 3454.634033203125,
                        "z": 370.5574035644531
                    },
                    "rotation": {
                        "roll": 1.9957187760155648e-05,
                        "pitch": -0.27481263875961304,
                        "yaw": -80.85838317871094
                    }
                },
                "velocity": {
                    "x": 1.2810927629470825,
                    "y": -7.960994243621826,
                    "z": -0.03860262408852577
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030095100402832,
                "transform": {
                    "location": {
                        "x": 959.233642578125,
                        "y": 3450.36328125,
                        "z": 370.5628967285156
                    },
                    "rotation": {
                        "roll": 0.0024139834567904472,
                        "pitch": -0.2953168749809265,
                        "yaw": -80.86930847167969
                    }
                },
                "velocity": {
                    "x": 1.274234414100647,
                    "y": -7.9282426834106445,
                    "z": -0.041482191532850266
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.7849731445312,
                        "y": 3411.612060546875,
                        "z": 370.2904968261719
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.92764949798584,
                "transform": {
                    "location": {
                        "x": 953.0578002929688,
                        "y": 3446.569091796875,
                        "z": 370.5486755371094
                    },
                    "rotation": {
                        "roll": 0.0011245571076869965,
                        "pitch": 0.31648361682891846,
                        "yaw": 99.1392593383789
                    }
                },
                "velocity": {
                    "x": -1.8934950828552246,
                    "y": 11.776229858398438,
                    "z": 0.06238448992371559
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.82217788696289,
                "transform": {
                    "location": {
                        "x": 949.3449096679688,
                        "y": 3469.6396484375,
                        "z": 370.62310791015625
                    },
                    "rotation": {
                        "roll": -0.0005798487109132111,
                        "pitch": 0.18586993217468262,
                        "yaw": 99.13713836669922
                    }
                },
                "velocity": {
                    "x": -1.8771952390670776,
                    "y": 11.672088623046875,
                    "z": 0.04884176328778267
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.4089131355285645,
                "transform": {
                    "location": {
                        "x": 935.9171752929688,
                        "y": 3532.623779296875,
                        "z": 370.8257751464844
                    },
                    "rotation": {
                        "roll": 0.0011049865279346704,
                        "pitch": 0.14298316836357117,
                        "yaw": 99.14354705810547
                    }
                },
                "velocity": {
                    "x": -1.1773730516433716,
                    "y": 7.314748287200928,
                    "z": 0.015532626770436764
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.958998680114746,
                "transform": {
                    "location": {
                        "x": 933.0643310546875,
                        "y": 3550.43310546875,
                        "z": 370.86614990234375
                    },
                    "rotation": {
                        "roll": -0.0005187960923649371,
                        "pitch": 0.1541915088891983,
                        "yaw": 99.29277038574219
                    }
                },
                "velocity": {
                    "x": -1.1197102069854736,
                    "y": 6.868319511413574,
                    "z": 0.010038470849394798
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.9274291992188,
                        "y": 3422.697509765625,
                        "z": 370.36627197265625
                    },
                    "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026193618774414,
                "transform": {
                    "location": {
                        "x": 945.5391235351562,
                        "y": 3493.2890625,
                        "z": 370.7123718261719
                    },
                    "rotation": {
                        "roll": -0.0004577592189889401,
                        "pitch": 0.2134024202823639,
                        "yaw": 99.12873077392578
                    }
                },
                "velocity": {
                    "x": -1.275490164756775,
                    "y": 7.924144268035889,
                    "z": 0.029096078127622604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048134803771973,
                "transform": {
                    "location": {
                        "x": 942.536865234375,
                        "y": 3511.93798828125,
                        "z": 370.7743225097656
                    },
                    "rotation": {
                        "roll": -0.00036621023900806904,
                        "pitch": 0.15851502120494843,
                        "yaw": 99.16543579101562
                    }
                },
                "velocity": {
                    "x": -1.2800501585006714,
                    "y": 7.945657253265381,
                    "z": 0.021692389622330666
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.32297924160957336,
        "expert_target_speed": 10.0,
        "target_point": [
            53.06960998576288,
            2.1720858528856537
        ],
        "target_point_next": [
            79.31783757690424,
            2.962208318438467
        ]
    },
    "555": {
        "acceleration": [
            -1.4132261276245117,
            0.5412483215332031,
            0.00264778733253479
        ],
        "angular_velocity": [
            -0.0765179991722107,
            -0.41033607721328735,
            7.2419962882995605
        ],
        "forward_vector": [
            -0.16914106905460358,
            0.9855788946151733,
            0.005046703852713108
        ],
        "right_vector": [
            -0.9855242371559143,
            -0.16918721795082092,
            0.010845105163753033
        ],
        "location": [
            942.7650756835938,
            3494.4482421875,
            370.717529296875
        ],
        "rotation": [
            -0.6213988661766052,
            0.289156049489975,
            99.73800659179688
        ],
        "velocity": [
            -2.1764652729034424,
            12.647314071655273,
            0.04471978917717934
        ],
        "speed": 12.83322073024711,
        "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": 40.71798324584961,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                935.6099243164062,
                3534.532470703125,
                370.829833984375
            ],
            "velocity": [
                -1.2766423225402832,
                7.931695461273193,
                0.017442435026168823
            ],
            "speed_kmh": 28.921673347545905,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.193047523498535,
                "transform": {
                    "location": {
                        "x": 941.6281127929688,
                        "y": 3539.104248046875,
                        "z": 370.8433532714844
                    },
                    "rotation": {
                        "roll": 0.002101567341014743,
                        "pitch": 0.22999294102191925,
                        "yaw": -80.4809341430664
                    }
                },
                "velocity": {
                    "x": 1.3524858951568604,
                    "y": -8.080626487731934,
                    "z": -0.016882162541151047
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.983169078826904,
                "transform": {
                    "location": {
                        "x": 946.1133422851562,
                        "y": 3531.8251953125,
                        "z": 370.8298034667969
                    },
                    "rotation": {
                        "roll": 0.008443460799753666,
                        "pitch": -0.14438335597515106,
                        "yaw": -80.71587371826172
                    }
                },
                "velocity": {
                    "x": 1.284521460533142,
                    "y": -7.879129886627197,
                    "z": -0.017623309046030045
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996644020080566,
                "transform": {
                    "location": {
                        "x": 948.52490234375,
                        "y": 3496.447998046875,
                        "z": 370.72943115234375
                    },
                    "rotation": {
                        "roll": -0.0010986322304233909,
                        "pitch": -0.18539181351661682,
                        "yaw": -80.83573150634766
                    }
                },
                "velocity": {
                    "x": 1.27195405960083,
                    "y": -7.894796371459961,
                    "z": -0.025247778743505478
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.071939468383789,
                "transform": {
                    "location": {
                        "x": 952.6168823242188,
                        "y": 3491.478759765625,
                        "z": 370.69525146484375
                    },
                    "rotation": {
                        "roll": 0.00024416085216216743,
                        "pitch": -0.2085529863834381,
                        "yaw": -80.85255432128906
                    }
                },
                "velocity": {
                    "x": 1.2833069562911987,
                    "y": -7.969221115112305,
                    "z": -0.029048427939414978
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092530250549316,
                "transform": {
                    "location": {
                        "x": 955.5753784179688,
                        "y": 3452.64013671875,
                        "z": 370.5476379394531
                    },
                    "rotation": {
                        "roll": -0.0008850152371451259,
                        "pitch": -0.3007810115814209,
                        "yaw": -80.85318756103516
                    }
                },
                "velocity": {
                    "x": 1.2865864038467407,
                    "y": -7.989495754241943,
                    "z": -0.041189294308423996
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031722068786621,
                "transform": {
                    "location": {
                        "x": 959.5523071289062,
                        "y": 3448.381591796875,
                        "z": 370.5525207519531
                    },
                    "rotation": {
                        "roll": -0.00042725264211185277,
                        "pitch": -0.2946816682815552,
                        "yaw": -80.84373474121094
                    }
                },
                "velocity": {
                    "x": 1.2777093648910522,
                    "y": -7.929337978363037,
                    "z": -0.04012124985456467
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.3878173828125,
                        "y": 3414.07958984375,
                        "z": 370.3077392578125
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.32431697845459,
                "transform": {
                    "location": {
                        "x": 952.59765625,
                        "y": 3449.43017578125,
                        "z": 370.5640563964844
                    },
                    "rotation": {
                        "roll": 0.0006690712762065232,
                        "pitch": 0.24819539487361908,
                        "yaw": 99.12748718261719
                    }
                },
                "velocity": {
                    "x": -1.797791600227356,
                    "y": 11.18055248260498,
                    "z": 0.057949990034103394
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.14995002746582,
                "transform": {
                    "location": {
                        "x": 948.8828735351562,
                        "y": 3472.51220703125,
                        "z": 370.6351013183594
                    },
                    "rotation": {
                        "roll": -0.0001525856787338853,
                        "pitch": 0.11879747360944748,
                        "yaw": 99.13729858398438
                    }
                },
                "velocity": {
                    "x": -1.7706513404846191,
                    "y": 11.0083589553833,
                    "z": 0.04694564640522003
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.033798217773438,
                "transform": {
                    "location": {
                        "x": 935.6099243164062,
                        "y": 3534.532470703125,
                        "z": 370.829833984375
                    },
                    "rotation": {
                        "roll": 6.862223381176591e-05,
                        "pitch": 0.13326381146907806,
                        "yaw": 99.14350891113281
                    }
                },
                "velocity": {
                    "x": -1.2766423225402832,
                    "y": 7.931695461273193,
                    "z": 0.017442435026168823
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.128291606903076,
                "transform": {
                    "location": {
                        "x": 932.7977294921875,
                        "y": 3552.067626953125,
                        "z": 370.86846923828125
                    },
                    "rotation": {
                        "roll": 5.510855407919735e-05,
                        "pitch": 0.12746497988700867,
                        "yaw": 99.2683334350586
                    }
                },
                "velocity": {
                    "x": -0.9848237633705139,
                    "y": 6.048638343811035,
                    "z": 0.007307243067771196
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.902070999145508,
                "transform": {
                    "location": {
                        "x": 956.50732421875,
                        "y": 3426.052490234375,
                        "z": 370.38916015625
                    },
                    "rotation": {
                        "roll": -0.0781860277056694,
                        "pitch": 0.028939509764313698,
                        "yaw": 99.13885498046875
                    }
                },
                "velocity": {
                    "x": -1.733266830444336,
                    "y": 13.793319702148438,
                    "z": 0.08779828995466232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026185989379883,
                "transform": {
                    "location": {
                        "x": 945.220458984375,
                        "y": 3495.270263671875,
                        "z": 370.71929931640625
                    },
                    "rotation": {
                        "roll": -0.0006408810731954873,
                        "pitch": 0.1995917707681656,
                        "yaw": 99.1563949584961
                    }
                },
                "velocity": {
                    "x": -1.275199055671692,
                    "y": 7.924182415008545,
                    "z": 0.029341144487261772
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048446655273438,
                "transform": {
                    "location": {
                        "x": 942.2173461914062,
                        "y": 3513.92431640625,
                        "z": 370.7797546386719
                    },
                    "rotation": {
                        "roll": 0.0009774611098691821,
                        "pitch": 0.1584262251853943,
                        "yaw": 99.12452697753906
                    }
                },
                "velocity": {
                    "x": -1.2774628400802612,
                    "y": 7.946389198303223,
                    "z": 0.022056931629776955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.24630969762802124,
        "expert_target_speed": 10.0,
        "target_point": [
            49.92291977254385,
            0.07645777097074813
        ],
        "target_point_next": [
            76.1816184877973,
            -0.19646523735198684
        ]
    },
    "560": {
        "acceleration": [
            -1.502828598022461,
            1.4097976684570312,
            -0.00769786536693573
        ],
        "angular_velocity": [
            0.3253087103366852,
            -0.3284999430179596,
            4.481228828430176
        ],
        "forward_vector": [
            -0.1918395459651947,
            0.9814109802246094,
            0.005488129332661629
        ],
        "right_vector": [
            -0.9813737273216248,
            -0.1918841451406479,
            0.009275514632463455
        ],
        "location": [
            942.1768798828125,
            3497.6435546875,
            370.7283020019531
        ],
        "rotation": [
            -0.5314635038375854,
            0.3144482374191284,
            101.0603256225586
        ],
        "velocity": [
            -2.5567729473114014,
            12.929208755493164,
            0.04355465620756149
        ],
        "speed": 13.179587510511265,
        "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": 39.47669982910156,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                935.2908325195312,
                3536.514892578125,
                370.8341064453125
            ],
            "velocity": [
                -1.2252141237258911,
                7.612035274505615,
                0.016927585005760193
            ],
            "speed_kmh": 27.756097403509084,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 939.9035034179688,
                        "y": 3569.84521484375,
                        "z": 371.2672119140625
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.157577514648438,
                "transform": {
                    "location": {
                        "x": 941.969970703125,
                        "y": 3537.04296875,
                        "z": 370.83892822265625
                    },
                    "rotation": {
                        "roll": 0.010645371861755848,
                        "pitch": -0.034485623240470886,
                        "yaw": -80.59904479980469
                    }
                },
                "velocity": {
                    "x": 1.326766014099121,
                    "y": -8.048942565917969,
                    "z": -0.01712564378976822
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.783884048461914,
                "transform": {
                    "location": {
                        "x": 946.4239501953125,
                        "y": 3529.9189453125,
                        "z": 370.826904296875
                    },
                    "rotation": {
                        "roll": 0.003762010019272566,
                        "pitch": -0.3498149514198303,
                        "yaw": -80.76878356933594
                    }
                },
                "velocity": {
                    "x": 1.0878318548202515,
                    "y": -6.696074485778809,
                    "z": -0.01705968752503395
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065323829650879,
                "transform": {
                    "location": {
                        "x": 948.8443603515625,
                        "y": 3494.465576171875,
                        "z": 370.72259521484375
                    },
                    "rotation": {
                        "roll": -0.0005798359052278101,
                        "pitch": -0.20019283890724182,
                        "yaw": -80.84431457519531
                    }
                },
                "velocity": {
                    "x": 1.2814679145812988,
                    "y": -7.962815284729004,
                    "z": -0.029483536258339882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.026165008544922,
                "transform": {
                    "location": {
                        "x": 952.9367065429688,
                        "y": 3489.49169921875,
                        "z": 370.6879577636719
                    },
                    "rotation": {
                        "roll": -0.00027465008315630257,
                        "pitch": -0.20742599666118622,
                        "yaw": -80.8528823852539
                    }
                },
                "velocity": {
                    "x": 1.2759196758270264,
                    "y": -7.924045085906982,
                    "z": -0.0294046588242054
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062920570373535,
                "transform": {
                    "location": {
                        "x": 955.8963623046875,
                        "y": 3450.646484375,
                        "z": 370.5371398925781
                    },
                    "rotation": {
                        "roll": -0.00039673002902418375,
                        "pitch": -0.3000228703022003,
                        "yaw": -80.85116577148438
                    }
                },
                "velocity": {
                    "x": 1.281900405883789,
                    "y": -7.960259914398193,
                    "z": -0.0409582145512104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031004905700684,
                "transform": {
                    "location": {
                        "x": 959.8717041015625,
                        "y": 3446.39892578125,
                        "z": 370.5421142578125
                    },
                    "rotation": {
                        "roll": -0.00018309698498342186,
                        "pitch": -0.30321940779685974,
                        "yaw": -80.86717224121094
                    }
                },
                "velocity": {
                    "x": 1.2764912843704224,
                    "y": -7.928781986236572,
                    "z": -0.04493249952793121
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.1231689453125,
                        "y": 3415.724853515625,
                        "z": 370.3191223144531
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.633987426757812,
                "transform": {
                    "location": {
                        "x": 952.1588745117188,
                        "y": 3452.15966796875,
                        "z": 370.57830810546875
                    },
                    "rotation": {
                        "roll": -0.00033569574588909745,
                        "pitch": 0.2267007976770401,
                        "yaw": 99.14366149902344
                    }
                },
                "velocity": {
                    "x": -1.6882286071777344,
                    "y": 10.498977661132812,
                    "z": 0.05509302020072937
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.62530517578125,
                "transform": {
                    "location": {
                        "x": 948.4677124023438,
                        "y": 3475.093017578125,
                        "z": 370.64593505859375
                    },
                    "rotation": {
                        "roll": -0.0009765628492459655,
                        "pitch": -0.029089774936437607,
                        "yaw": 99.14056396484375
                    }
                },
                "velocity": {
                    "x": -1.528887391090393,
                    "y": 9.503019332885742,
                    "z": 0.040404900908470154
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.710026741027832,
                "transform": {
                    "location": {
                        "x": 935.2908325195312,
                        "y": 3536.514892578125,
                        "z": 370.8341064453125
                    },
                    "rotation": {
                        "roll": 0.0003524657804518938,
                        "pitch": 0.11331283301115036,
                        "yaw": 99.14370727539062
                    }
                },
                "velocity": {
                    "x": -1.2252141237258911,
                    "y": 7.612035274505615,
                    "z": 0.016927585005760193
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.980579853057861,
                "transform": {
                    "location": {
                        "x": 932.5834350585938,
                        "y": 3553.38427734375,
                        "z": 370.8695983886719
                    },
                    "rotation": {
                        "roll": -0.00140380987431854,
                        "pitch": 0.16643120348453522,
                        "yaw": 99.2474136352539
                    }
                },
                "velocity": {
                    "x": -0.7963650822639465,
                    "y": 4.916496753692627,
                    "z": 0.006204938981682062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.0264892578125,
                        "y": 3429.0537109375,
                        "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": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03336238861084,
                "transform": {
                    "location": {
                        "x": 944.9016723632812,
                        "y": 3497.251708984375,
                        "z": 370.72613525390625
                    },
                    "rotation": {
                        "roll": 0.0017731577390804887,
                        "pitch": 0.19234494864940643,
                        "yaw": 99.12438201904297
                    }
                },
                "velocity": {
                    "x": -1.2748721837997437,
                    "y": 7.931519031524658,
                    "z": 0.02477797493338585
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048392295837402,
                "transform": {
                    "location": {
                        "x": 941.8977661132812,
                        "y": 3515.910888671875,
                        "z": 370.7853088378906
                    },
                    "rotation": {
                        "roll": -6.6701324463736e-09,
                        "pitch": 0.15897947549819946,
                        "yaw": 99.15287780761719
                    }
                },
                "velocity": {
                    "x": -1.277588963508606,
                    "y": 7.946313858032227,
                    "z": 0.021758565679192543
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.16094306111335754,
        "expert_target_speed": 10.0,
        "target_point": [
            46.66258628920178,
            -1.0399126591868226
        ],
        "target_point_next": [
            72.90799372622452,
            -1.9187378133537205
        ]
    },
    "565": {
        "acceleration": [
            -0.379180908203125,
            -2.2618484497070312,
            -0.024131983518600464
        ],
        "angular_velocity": [
            -0.8737497329711914,
            -0.5687330365180969,
            4.467827320098877
        ],
        "forward_vector": [
            -0.21006204187870026,
            0.9776780605316162,
            0.00442300783470273
        ],
        "right_vector": [
            -0.9776546955108643,
            -0.21009008586406708,
            0.00730544701218605
        ],
        "location": [
            941.50732421875,
            3500.891845703125,
            370.7392578125
        ],
        "rotation": [
            -0.4185791015625,
            0.25342050194740295,
            102.12610626220703
        ],
        "velocity": [
            -2.777294635772705,
            12.84754467010498,
            0.04309748485684395
        ],
        "speed": 13.144305593839286,
        "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": 37.92178726196289,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                935.0110473632812,
                3538.2529296875,
                370.8379211425781
            ],
            "velocity": [
                -0.9953075051307678,
                6.183586120605469,
                0.013189945369958878
            ],
            "speed_kmh": 22.54748381011139,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.420136451721191,
                "transform": {
                    "location": {
                        "x": 940.2108154296875,
                        "y": 3567.9599609375,
                        "z": 370.81353759765625
                    },
                    "rotation": {
                        "roll": -0.0639953687787056,
                        "pitch": -0.329590767621994,
                        "yaw": -80.72349548339844
                    }
                },
                "velocity": {
                    "x": 1.237320899963379,
                    "y": -7.3127617835998535,
                    "z": 0.2257755845785141
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.826236724853516,
                "transform": {
                    "location": {
                        "x": 942.290283203125,
                        "y": 3535.09375,
                        "z": 370.8348083496094
                    },
                    "rotation": {
                        "roll": 0.0060491012409329414,
                        "pitch": -0.1531669795513153,
                        "yaw": -80.67456817626953
                    }
                },
                "velocity": {
                    "x": 1.2658222913742065,
                    "y": -7.723173141479492,
                    "z": -0.016605233773589134
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.82437801361084,
                "transform": {
                    "location": {
                        "x": 946.6704711914062,
                        "y": 3528.402099609375,
                        "z": 370.8240051269531
                    },
                    "rotation": {
                        "roll": 0.0022112992592155933,
                        "pitch": -0.4846497178077698,
                        "yaw": -80.81304168701172
                    }
                },
                "velocity": {
                    "x": 0.9306145906448364,
                    "y": -5.749527931213379,
                    "z": -0.016248559579253197
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005231857299805,
                "transform": {
                    "location": {
                        "x": 949.1638793945312,
                        "y": 3492.482421875,
                        "z": 370.7154541015625
                    },
                    "rotation": {
                        "roll": -0.0007324292091652751,
                        "pitch": -0.2085529863834381,
                        "yaw": -80.8469009399414
                    }
                },
                "velocity": {
                    "x": 1.2733947038650513,
                    "y": -7.903249740600586,
                    "z": -0.02892220951616764
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074137687683105,
                "transform": {
                    "location": {
                        "x": 953.2567138671875,
                        "y": 3487.5048828125,
                        "z": 370.680419921875
                    },
                    "rotation": {
                        "roll": 6.184566154843196e-05,
                        "pitch": -0.21594324707984924,
                        "yaw": -80.85282135009766
                    }
                },
                "velocity": {
                    "x": 1.283523678779602,
                    "y": -7.971408367156982,
                    "z": -0.030328597873449326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092418670654297,
                "transform": {
                    "location": {
                        "x": 956.2174072265625,
                        "y": 3448.65234375,
                        "z": 370.52667236328125
                    },
                    "rotation": {
                        "roll": 0.0007607891457155347,
                        "pitch": -0.2958701252937317,
                        "yaw": -80.85430908203125
                    }
                },
                "velocity": {
                    "x": 1.2862279415130615,
                    "y": -7.98944091796875,
                    "z": -0.04111272841691971
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032092094421387,
                "transform": {
                    "location": {
                        "x": 960.1906127929688,
                        "y": 3444.4169921875,
                        "z": 370.5310974121094
                    },
                    "rotation": {
                        "roll": 0.0002799757057800889,
                        "pitch": -0.3309021592140198,
                        "yaw": -80.84245300292969
                    }
                },
                "velocity": {
                    "x": 1.2767459154129028,
                    "y": -7.929839134216309,
                    "z": -0.04544326663017273
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.7260131835938,
                        "y": 3418.1923828125,
                        "z": 370.3360595703125
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.853477478027344,
                "transform": {
                    "location": {
                        "x": 951.7706298828125,
                        "y": 3454.57373046875,
                        "z": 370.5912780761719
                    },
                    "rotation": {
                        "roll": -0.0005493108765222132,
                        "pitch": 0.10737739503383636,
                        "yaw": 99.128662109375
                    }
                },
                "velocity": {
                    "x": -1.4057797193527222,
                    "y": 8.741064071655273,
                    "z": 0.04049624502658844
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.118841171264648,
                "transform": {
                    "location": {
                        "x": 948.1232299804688,
                        "y": 3477.233642578125,
                        "z": 370.6548767089844
                    },
                    "rotation": {
                        "roll": -0.0003051742387469858,
                        "pitch": -0.06689486652612686,
                        "yaw": 99.14148712158203
                    }
                },
                "velocity": {
                    "x": -1.289801001548767,
                    "y": 8.015666007995605,
                    "z": 0.03313136845827103
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.263190269470215,
                "transform": {
                    "location": {
                        "x": 935.0110473632812,
                        "y": 3538.2529296875,
                        "z": 370.8379211425781
                    },
                    "rotation": {
                        "roll": 0.0005135654355399311,
                        "pitch": 0.08870366215705872,
                        "yaw": 99.14353942871094
                    }
                },
                "velocity": {
                    "x": -0.9953075051307678,
                    "y": 6.183586120605469,
                    "z": 0.013189945369958878
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.5616583824157715,
                "transform": {
                    "location": {
                        "x": 932.3712768554688,
                        "y": 3554.6923828125,
                        "z": 370.8721008300781
                    },
                    "rotation": {
                        "roll": 0.00020889945153612643,
                        "pitch": 0.045974001288414,
                        "yaw": 99.2086410522461
                    }
                },
                "velocity": {
                    "x": -0.8916065692901611,
                    "y": 5.489721775054932,
                    "z": 0.006016702391207218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.875094413757324,
                "transform": {
                    "location": {
                        "x": 955.4595336914062,
                        "y": 3432.53857421875,
                        "z": 370.4307861328125
                    },
                    "rotation": {
                        "roll": -0.007293699309229851,
                        "pitch": 0.003053094493225217,
                        "yaw": 99.17687225341797
                    }
                },
                "velocity": {
                    "x": -2.2177000045776367,
                    "y": 13.696439743041992,
                    "z": 0.08700571209192276
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.16252613067627,
                "transform": {
                    "location": {
                        "x": 944.580078125,
                        "y": 3499.251708984375,
                        "z": 370.7325439453125
                    },
                    "rotation": {
                        "roll": -0.00015258652274496853,
                        "pitch": 0.2243443876504898,
                        "yaw": 99.15149688720703
                    }
                },
                "velocity": {
                    "x": -1.2973082065582275,
                    "y": 8.058732032775879,
                    "z": 0.025838259607553482
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048004150390625,
                "transform": {
                    "location": {
                        "x": 941.5784301757812,
                        "y": 3517.897216796875,
                        "z": 370.7908020019531
                    },
                    "rotation": {
                        "roll": -9.155423322226852e-05,
                        "pitch": 0.15884287655353546,
                        "yaw": 99.12076568603516
                    }
                },
                "velocity": {
                    "x": -1.2780476808547974,
                    "y": 7.945847988128662,
                    "z": 0.021603526547551155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.052315790206193924,
        "expert_target_speed": 10.0,
        "target_point": [
            43.31870780993254,
            -1.8799290368548878
        ],
        "target_point_next": [
            69.54322863024187,
            -3.2467695294098498
        ]
    },
    "570": {
        "acceleration": [
            0.5336618423461914,
            -1.414947509765625,
            -0.04130415618419647
        ],
        "angular_velocity": [
            -0.0856086015701294,
            -1.1459137201309204,
            -1.4548325538635254
        ],
        "forward_vector": [
            -0.21912549436092377,
            0.9756966233253479,
            0.0004143714904785156
        ],
        "right_vector": [
            -0.975688099861145,
            -0.21912531554698944,
            0.004093799274414778
        ],
        "location": [
            940.8189086914062,
            3504.016845703125,
            370.75
        ],
        "rotation": [
            -0.23455810546875,
            0.023741737008094788,
            102.65767669677734
        ],
        "velocity": [
            -2.726285934448242,
            12.256531715393066,
            0.03646140173077583
        ],
        "speed": 12.556082378146714,
        "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": 36.14912414550781,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                934.7848510742188,
                3539.65869140625,
                370.84075927734375
            ],
            "velocity": [
                -0.8619995713233948,
                5.3557915687561035,
                0.009683122858405113
            ],
            "speed_kmh": 19.529009676867517,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.251513957977295,
                "transform": {
                    "location": {
                        "x": 940.5171508789062,
                        "y": 3566.154296875,
                        "z": 370.87164306640625
                    },
                    "rotation": {
                        "roll": -0.0235595665872097,
                        "pitch": -0.15999716520309448,
                        "yaw": -80.39751434326172
                    }
                },
                "velocity": {
                    "x": 1.231711745262146,
                    "y": -7.145040512084961,
                    "z": 0.1254342645406723
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.188817977905273,
                "transform": {
                    "location": {
                        "x": 942.6144409179688,
                        "y": 3533.111083984375,
                        "z": 370.8304748535156
                    },
                    "rotation": {
                        "roll": 0.006257853005081415,
                        "pitch": -0.07845837622880936,
                        "yaw": -80.71757507324219
                    }
                },
                "velocity": {
                    "x": 1.3165459632873535,
                    "y": -8.082271575927734,
                    "z": -0.01847054436802864
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.5736870765686035,
                "transform": {
                    "location": {
                        "x": 946.9107666015625,
                        "y": 3526.916259765625,
                        "z": 370.8165588378906
                    },
                    "rotation": {
                        "roll": 0.0023382583167403936,
                        "pitch": -0.048125509172677994,
                        "yaw": -80.86213684082031
                    }
                },
                "velocity": {
                    "x": 1.0464414358139038,
                    "y": -6.489840984344482,
                    "z": -0.01701103150844574
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062691688537598,
                "transform": {
                    "location": {
                        "x": 949.4832763671875,
                        "y": 3490.499267578125,
                        "z": 370.7081604003906
                    },
                    "rotation": {
                        "roll": -0.0006103587802499533,
                        "pitch": -0.2079792469739914,
                        "yaw": -80.85028076171875
                    }
                },
                "velocity": {
                    "x": 1.2820931673049927,
                    "y": -7.960046291351318,
                    "z": -0.03010159358382225
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023601531982422,
                "transform": {
                    "location": {
                        "x": 953.5764770507812,
                        "y": 3485.5185546875,
                        "z": 370.6727294921875
                    },
                    "rotation": {
                        "roll": -0.0008849967853166163,
                        "pitch": -0.23019102215766907,
                        "yaw": -80.8528823852539
                    }
                },
                "velocity": {
                    "x": 1.2754714488983154,
                    "y": -7.921505451202393,
                    "z": -0.03322742506861687
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063152313232422,
                "transform": {
                    "location": {
                        "x": 956.5382690429688,
                        "y": 3446.658935546875,
                        "z": 370.5163269042969
                    },
                    "rotation": {
                        "roll": 0.00011464730778243393,
                        "pitch": -0.29635506868362427,
                        "yaw": -80.85698699951172
                    }
                },
                "velocity": {
                    "x": 1.2809815406799316,
                    "y": -7.960638046264648,
                    "z": -0.04181348532438278
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03066635131836,
                "transform": {
                    "location": {
                        "x": 960.509765625,
                        "y": 3442.4345703125,
                        "z": 370.51947021484375
                    },
                    "rotation": {
                        "roll": 0.002562938490882516,
                        "pitch": -0.3338869512081146,
                        "yaw": -80.87126922607422
                    }
                },
                "velocity": {
                    "x": 1.27454674243927,
                    "y": -7.928748607635498,
                    "z": -0.04554814100265503
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3394165039062,
                        "y": 3420.59423828125,
                        "z": 370.3524475097656
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.841564178466797,
                "transform": {
                    "location": {
                        "x": 951.42529296875,
                        "y": 3456.7216796875,
                        "z": 370.600341796875
                    },
                    "rotation": {
                        "roll": -0.00036621122853830457,
                        "pitch": 0.20655857026576996,
                        "yaw": 99.15055847167969
                    }
                },
                "velocity": {
                    "x": -1.4041807651519775,
                    "y": 8.729256629943848,
                    "z": 0.040229424834251404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.499234199523926,
                "transform": {
                    "location": {
                        "x": 947.7970581054688,
                        "y": 3479.260009765625,
                        "z": 370.66339111328125
                    },
                    "rotation": {
                        "roll": -0.00015258642088156193,
                        "pitch": 0.21519875526428223,
                        "yaw": 99.14503479003906
                    }
                },
                "velocity": {
                    "x": -1.3508306741714478,
                    "y": 8.391132354736328,
                    "z": 0.03367244824767113
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.42472505569458,
                "transform": {
                    "location": {
                        "x": 934.7848510742188,
                        "y": 3539.65869140625,
                        "z": 370.84075927734375
                    },
                    "rotation": {
                        "roll": 0.0004818524466827512,
                        "pitch": 0.09137426316738129,
                        "yaw": 99.1427993774414
                    }
                },
                "velocity": {
                    "x": -0.8619995713233948,
                    "y": 5.3557915687561035,
                    "z": 0.009683122858405113
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.455080986022949,
                "transform": {
                    "location": {
                        "x": 932.1373291015625,
                        "y": 3556.13623046875,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": 0.00038475840119645,
                        "pitch": -0.0005805660621263087,
                        "yaw": 99.17857360839844
                    }
                },
                "velocity": {
                    "x": -1.031651258468628,
                    "y": 6.372105121612549,
                    "z": 0.0063979909755289555
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9679565429688,
                        "y": 3435.51611328125,
                        "z": 370.4490051269531
                    },
                    "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.667274475097656,
                "transform": {
                    "location": {
                        "x": 944.2431640625,
                        "y": 3501.344970703125,
                        "z": 370.73883056640625
                    },
                    "rotation": {
                        "roll": 0.0004211186897009611,
                        "pitch": 0.357833594083786,
                        "yaw": 99.1198959350586
                    }
                },
                "velocity": {
                    "x": -1.37663733959198,
                    "y": 8.557204246520996,
                    "z": 0.027772502973675728
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048280715942383,
                "transform": {
                    "location": {
                        "x": 941.2586669921875,
                        "y": 3519.88330078125,
                        "z": 370.7962951660156
                    },
                    "rotation": {
                        "roll": -3.052252213819884e-05,
                        "pitch": 0.15864479541778564,
                        "yaw": 99.16328430175781
                    }
                },
                "velocity": {
                    "x": -1.2801117897033691,
                    "y": 7.945796966552734,
                    "z": 0.02120620757341385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.040493693202733994,
        "expert_target_speed": 10.0,
        "target_point": [
            40.09950051066337,
            -2.2686625798002877
        ],
        "target_point_next": [
            66.31021154357741,
            -3.878747153977299
        ]
    },
    "575": {
        "acceleration": [
            -0.259552001953125,
            0.7621192932128906,
            -0.01690685749053955
        ],
        "angular_velocity": [
            0.6286510229110718,
            -0.06921592354774475,
            0.9092618227005005
        ],
        "forward_vector": [
            -0.21599744260311127,
            0.9763922691345215,
            0.001839040545746684
        ],
        "right_vector": [
            -0.9763922095298767,
            -0.21600018441677094,
            0.0014578112168237567
        ],
        "location": [
            940.141357421875,
            3507.076171875,
            370.7586669921875
        ],
        "rotation": [
            -0.0835265964269638,
            0.10536932200193405,
            102.47407531738281
        ],
        "velocity": [
            -2.7288103103637695,
            12.28767204284668,
            0.03648817166686058
        ],
        "speed": 12.587028638344457,
        "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": 34.403526306152344,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                934.5650024414062,
                3541.024658203125,
                370.84307861328125
            ],
            "velocity": [
                -0.9269028902053833,
                5.760468482971191,
                0.009975451976060867
            ],
            "speed_kmh": 21.004463888559417,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.376366138458252,
                "transform": {
                    "location": {
                        "x": 940.8270874023438,
                        "y": 3564.351806640625,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": -0.0026855431497097015,
                        "pitch": -0.0623118132352829,
                        "yaw": -80.28263854980469
                    }
                },
                "velocity": {
                    "x": 1.2547187805175781,
                    "y": -7.268868923187256,
                    "z": -0.0008765888051129878
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.003927230834961,
                "transform": {
                    "location": {
                        "x": 942.9400024414062,
                        "y": 3531.10888671875,
                        "z": 370.8258972167969
                    },
                    "rotation": {
                        "roll": 0.004776434972882271,
                        "pitch": -0.16031135618686676,
                        "yaw": -80.7680892944336
                    }
                },
                "velocity": {
                    "x": 1.2824517488479614,
                    "y": -7.900497913360596,
                    "z": -0.017378712072968483
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.004966735839844,
                "transform": {
                    "location": {
                        "x": 947.2118530273438,
                        "y": 3525.049560546875,
                        "z": 370.8090515136719
                    },
                    "rotation": {
                        "roll": 0.002215195680037141,
                        "pitch": 0.28081637620925903,
                        "yaw": -80.9073257446289
                    }
                },
                "velocity": {
                    "x": 1.272704005241394,
                    "y": -7.903122901916504,
                    "z": -0.019238701090216637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00516414642334,
                "transform": {
                    "location": {
                        "x": 949.8025512695312,
                        "y": 3488.5166015625,
                        "z": 370.7008056640625
                    },
                    "rotation": {
                        "roll": -0.0004272431251592934,
                        "pitch": -0.20718695223331451,
                        "yaw": -80.8521728515625
                    }
                },
                "velocity": {
                    "x": 1.2710579633712769,
                    "y": -7.9035563468933105,
                    "z": -0.02943548560142517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0758695602417,
                "transform": {
                    "location": {
                        "x": 953.8963623046875,
                        "y": 3483.53173828125,
                        "z": 370.6647033691406
                    },
                    "rotation": {
                        "roll": 0.0008573822560720146,
                        "pitch": -0.2282034307718277,
                        "yaw": -80.85321044921875
                    }
                },
                "velocity": {
                    "x": 1.2838410139083862,
                    "y": -7.973101615905762,
                    "z": -0.03273705393075943
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093507766723633,
                "transform": {
                    "location": {
                        "x": 956.8590698242188,
                        "y": 3444.6650390625,
                        "z": 370.50537109375
                    },
                    "rotation": {
                        "roll": 0.0004962902166880667,
                        "pitch": -0.3181092143058777,
                        "yaw": -80.8616714477539
                    }
                },
                "velocity": {
                    "x": 1.2853989601135254,
                    "y": -7.990655899047852,
                    "z": -0.045175112783908844
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031341552734375,
                "transform": {
                    "location": {
                        "x": 960.8283081054688,
                        "y": 3440.4521484375,
                        "z": 370.5078430175781
                    },
                    "rotation": {
                        "roll": 0.002634989796206355,
                        "pitch": -0.3329785466194153,
                        "yaw": -80.8499526977539
                    }
                },
                "velocity": {
                    "x": 1.2753876447677612,
                    "y": -7.929296016693115,
                    "z": -0.04570038616657257
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.9422607421875,
                        "y": 3423.061767578125,
                        "z": 370.36932373046875
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.007377624511719,
                "transform": {
                    "location": {
                        "x": 951.0517578125,
                        "y": 3459.04150390625,
                        "z": 370.6095886230469
                    },
                    "rotation": {
                        "roll": -0.0005798293859697878,
                        "pitch": 0.3423837125301361,
                        "yaw": 99.13739013671875
                    }
                },
                "velocity": {
                    "x": -1.5903300046920776,
                    "y": 9.880105018615723,
                    "z": 0.04434075206518173
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.119261741638184,
                "transform": {
                    "location": {
                        "x": 947.4420776367188,
                        "y": 3481.465576171875,
                        "z": 370.6722106933594
                    },
                    "rotation": {
                        "roll": 0.0009220893261954188,
                        "pitch": 0.3139837682247162,
                        "yaw": 99.14331817626953
                    }
                },
                "velocity": {
                    "x": -1.4480525255203247,
                    "y": 9.003484725952148,
                    "z": 0.03662102669477463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.834573268890381,
                "transform": {
                    "location": {
                        "x": 934.5650024414062,
                        "y": 3541.024658203125,
                        "z": 370.84307861328125
                    },
                    "rotation": {
                        "roll": -3.051245403185021e-05,
                        "pitch": 0.10531467944383621,
                        "yaw": 99.1427001953125
                    }
                },
                "velocity": {
                    "x": -0.9269028902053833,
                    "y": 5.760468482971191,
                    "z": 0.009975451976060867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.681867599487305,
                "transform": {
                    "location": {
                        "x": 931.8654174804688,
                        "y": 3557.818359375,
                        "z": 370.8757629394531
                    },
                    "rotation": {
                        "roll": 0.00019032317504752427,
                        "pitch": 0.029479095712304115,
                        "yaw": 99.18202209472656
                    }
                },
                "velocity": {
                    "x": -1.0677051544189453,
                    "y": 6.59600830078125,
                    "z": 0.005993652157485485
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.4530029296875,
                        "y": 3438.580322265625,
                        "z": 370.46893310546875
                    },
                    "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.776843070983887,
                "transform": {
                    "location": {
                        "x": 943.8966064453125,
                        "y": 3503.498291015625,
                        "z": 370.7459411621094
                    },
                    "rotation": {
                        "roll": -0.00024415532243438065,
                        "pitch": 0.2730231285095215,
                        "yaw": 99.1184310913086
                    }
                },
                "velocity": {
                    "x": -1.3948665857315063,
                    "y": 8.66525650024414,
                    "z": 0.02568027377128601
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047813415527344,
                "transform": {
                    "location": {
                        "x": 940.9389038085938,
                        "y": 3521.86962890625,
                        "z": 370.8017883300781
                    },
                    "rotation": {
                        "roll": 0.0008693382842466235,
                        "pitch": 0.15775004029273987,
                        "yaw": 99.13280487060547
                    }
                },
                "velocity": {
                    "x": -1.278452754020691,
                    "y": 7.9455885887146,
                    "z": 0.021838244050741196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.12282416224479675,
        "expert_target_speed": 10.0,
        "target_point": [
            36.97310787726334,
            -2.140897961564936
        ],
        "target_point_next": [
            63.18884396931676,
            -3.666979983847222
        ]
    },
    "580": {
        "acceleration": [
            -0.3448057174682617,
            1.1742401123046875,
            0.0072114914655685425
        ],
        "angular_velocity": [
            0.32294800877571106,
            -0.050618208944797516,
            -0.15557697415351868
        ],
        "forward_vector": [
            -0.21781373023986816,
            0.9759825468063354,
            0.003913631197065115
        ],
        "right_vector": [
            -0.975989043712616,
            -0.21781836450099945,
            0.0007920179050415754
        ],
        "location": [
            939.4496459960938,
            3510.182373046875,
            370.767333984375
        ],
        "rotation": [
            -0.0453796349465847,
            0.22423510253429413,
            102.58075714111328
        ],
        "velocity": [
            -2.8092098236083984,
            12.55351734161377,
            0.037112586200237274
        ],
        "speed": 12.863998502769485,
        "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": 32.771305084228516,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                934.319580078125,
                3542.549560546875,
                370.845703125
            ],
            "velocity": [
                -1.0629228353500366,
                6.6052751541137695,
                0.010191831737756729
            ],
            "speed_kmh": 24.084933261441364,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 936.69482421875,
                        "y": 3569.32861328125,
                        "z": 371.2672119140625
                    },
                    "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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.057781219482422,
                "transform": {
                    "location": {
                        "x": 941.1311645507812,
                        "y": 3562.5576171875,
                        "z": 370.87890625
                    },
                    "rotation": {
                        "roll": -0.007263184525072575,
                        "pitch": -0.042634040117263794,
                        "yaw": -80.38978576660156
                    }
                },
                "velocity": {
                    "x": 1.1622612476348877,
                    "y": -6.9614176750183105,
                    "z": -0.009272775612771511
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.012723922729492,
                "transform": {
                    "location": {
                        "x": 943.2590942382812,
                        "y": 3529.1416015625,
                        "z": 370.8209228515625
                    },
                    "rotation": {
                        "roll": 0.0017229141667485237,
                        "pitch": -0.1484678089618683,
                        "yaw": -80.78611755371094
                    }
                },
                "velocity": {
                    "x": 1.2829678058624268,
                    "y": -7.909316062927246,
                    "z": -0.021458959206938744
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.593568801879883,
                "transform": {
                    "location": {
                        "x": 947.5481567382812,
                        "y": 3522.959716796875,
                        "z": 370.8054504394531
                    },
                    "rotation": {
                        "roll": -0.000732421176508069,
                        "pitch": 0.03811245411634445,
                        "yaw": -80.86173248291016
                    }
                },
                "velocity": {
                    "x": 1.3661892414093018,
                    "y": -8.484249114990234,
                    "z": -0.021563777700066566
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065465927124023,
                "transform": {
                    "location": {
                        "x": 950.121826171875,
                        "y": 3486.532958984375,
                        "z": 370.6932373046875
                    },
                    "rotation": {
                        "roll": -0.00030517292907461524,
                        "pitch": -0.21920807659626007,
                        "yaw": -80.85359191894531
                    }
                },
                "velocity": {
                    "x": 1.2820414304733276,
                    "y": -7.962863445281982,
                    "z": -0.03027658350765705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023856163024902,
                "transform": {
                    "location": {
                        "x": 954.2160034179688,
                        "y": 3481.544921875,
                        "z": 370.65667724609375
                    },
                    "rotation": {
                        "roll": 0.0003695134655572474,
                        "pitch": -0.22808732092380524,
                        "yaw": -80.86090850830078
                    }
                },
                "velocity": {
                    "x": 1.2745153903961182,
                    "y": -7.921921730041504,
                    "z": -0.03211170434951782
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062950134277344,
                "transform": {
                    "location": {
                        "x": 957.1797485351562,
                        "y": 3442.671142578125,
                        "z": 370.49407958984375
                    },
                    "rotation": {
                        "roll": 0.0008045357535593212,
                        "pitch": -0.34100401401519775,
                        "yaw": -80.86217498779297
                    }
                },
                "velocity": {
                    "x": 1.2805176973342896,
                    "y": -7.96048641204834,
                    "z": -0.04575583338737488
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.1195068359375,
                        "y": 3438.404541015625,
                        "z": 370.48291015625
                    },
                    "rotation": {
                        "roll": 1.3340463844713213e-08,
                        "pitch": -0.3518025279045105,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.3896484375,
                        "y": 3426.494873046875,
                        "z": 370.39276123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.907441139221191,
                "transform": {
                    "location": {
                        "x": 950.6424560546875,
                        "y": 3461.58544921875,
                        "z": 370.620849609375
                    },
                    "rotation": {
                        "roll": 0.0005333129083737731,
                        "pitch": 0.37197890877723694,
                        "yaw": 99.13240051269531
                    }
                },
                "velocity": {
                    "x": -1.7312133312225342,
                    "y": 10.76906681060791,
                    "z": 0.048726387321949005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.588068008422852,
                "transform": {
                    "location": {
                        "x": 947.040283203125,
                        "y": 3483.961181640625,
                        "z": 370.682373046875
                    },
                    "rotation": {
                        "roll": 0.00017318836762569845,
                        "pitch": 0.4660579264163971,
                        "yaw": 99.14685821533203
                    }
                },
                "velocity": {
                    "x": -1.6832239627838135,
                    "y": 10.453335762023926,
                    "z": 0.041371457278728485
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.6902594566345215,
                "transform": {
                    "location": {
                        "x": 934.319580078125,
                        "y": 3542.549560546875,
                        "z": 370.845703125
                    },
                    "rotation": {
                        "roll": -9.154403232969344e-05,
                        "pitch": 0.10631871968507767,
                        "yaw": 99.1420669555664
                    }
                },
                "velocity": {
                    "x": -1.0629228353500366,
                    "y": 6.6052751541137695,
                    "z": 0.010191831737756729
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.636084079742432,
                "transform": {
                    "location": {
                        "x": 931.6202392578125,
                        "y": 3559.3359375,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.13523773849010468,
                        "yaw": 99.17979431152344
                    }
                },
                "velocity": {
                    "x": -0.8991820216178894,
                    "y": 5.56389045715332,
                    "z": 0.006063089240342379
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.72262191772461,
                "transform": {
                    "location": {
                        "x": 953.90966796875,
                        "y": 3441.795166015625,
                        "z": 370.486328125
                    },
                    "rotation": {
                        "roll": 0.016475193202495575,
                        "pitch": -0.4678611159324646,
                        "yaw": 99.32174682617188
                    }
                },
                "velocity": {
                    "x": -1.6191527843475342,
                    "y": 9.586713790893555,
                    "z": 0.05141535773873329
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.500277519226074,
                "transform": {
                    "location": {
                        "x": 943.5488891601562,
                        "y": 3505.66015625,
                        "z": 370.7527160644531
                    },
                    "rotation": {
                        "roll": -0.00030518503626808524,
                        "pitch": 0.14725203812122345,
                        "yaw": 99.12069702148438
                    }
                },
                "velocity": {
                    "x": -1.3496507406234741,
                    "y": 8.39240837097168,
                    "z": 0.025257624685764313
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049079895019531,
                "transform": {
                    "location": {
                        "x": 940.619140625,
                        "y": 3523.85595703125,
                        "z": 370.80706787109375
                    },
                    "rotation": {
                        "roll": -0.0004882867215201259,
                        "pitch": 0.14770282804965973,
                        "yaw": 99.16221618652344
                    }
                },
                "velocity": {
                    "x": -1.278949499130249,
                    "y": 7.946793079376221,
                    "z": 0.021251192316412926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4809,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7194213867188,
                        "y": 3460.505615234375,
                        "z": 370.5687561035156
                    },
                    "rotation": {
                        "roll": -0.001525879604741931,
                        "pitch": 0.16046161949634552,
                        "yaw": 99.13793182373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 4808,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2951049804688,
                        "y": 3450.713623046875,
                        "z": 370.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012206806568428874,
                        "pitch": 0.5245926380157471,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2254662662744522,
        "expert_target_speed": 10.0,
        "target_point": [
            33.786771214959046,
            -2.2082563479058637
        ],
        "target_point_next": [
            59.99962059653847,
            -3.7831444345826046
        ]
    },
    "585": {
        "acceleration": [
            0.9623813629150391,
            -1.8015289306640625,
            -0.011012852191925049
        ],
        "angular_velocity": [
            -0.6388039588928223,
            -0.7010509371757507,
            -1.2104310989379883
        ],
        "forward_vector": [
            -0.21474769711494446,
            0.9766647219657898,
            0.0030734490137547255
        ],
        "right_vector": [
            -0.9766694903373718,
            -0.21474595367908478,
            -0.0008887178846634924
        ],
        "location": [
            938.7525024414062,
            3513.330322265625,
            370.7763671875
        ],
        "rotation": [
            0.0509200319647789,
            0.17609593272209167,
            102.40078735351562
        ],
        "velocity": [
            -2.714388608932495,
            12.470467567443848,
            0.035712964832782745
        ],
        "speed": 12.762463197634357,
        "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": 31.351594924926758,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                934.0338745117188,
                3544.32470703125,
                370.8484191894531
            ],
            "velocity": [
                -1.2071378231048584,
                7.498908042907715,
                0.0106347082182765
            ],
            "speed_kmh": 27.343633260311243,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4627965688705444,
                "transform": {
                    "location": {
                        "x": 936.69482421875,
                        "y": 3569.32861328125,
                        "z": 370.8902893066406
                    },
                    "rotation": {
                        "roll": 0.00013063574442639947,
                        "pitch": -0.05215532332658768,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": -0.00027272876468487084,
                    "y": 0.001302239135839045,
                    "z": -1.4627959728240967
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.715664386749268,
                "transform": {
                    "location": {
                        "x": 941.40966796875,
                        "y": 3560.89111328125,
                        "z": 370.876708984375
                    },
                    "rotation": {
                        "roll": -0.0022888171952217817,
                        "pitch": -0.017335020005702972,
                        "yaw": -80.47853088378906
                    }
                },
                "velocity": {
                    "x": 1.103181004524231,
                    "y": -6.624430179595947,
                    "z": -0.008057641796767712
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.087492942810059,
                "transform": {
                    "location": {
                        "x": 943.5814819335938,
                        "y": 3527.148681640625,
                        "z": 370.8158264160156
                    },
                    "rotation": {
                        "roll": 0.0024532850366085768,
                        "pitch": -0.13266275823116302,
                        "yaw": -80.81407928466797
                    }
                },
                "velocity": {
                    "x": 1.2899539470672607,
                    "y": -7.983928680419922,
                    "z": -0.021257009357213974
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.140442848205566,
                "transform": {
                    "location": {
                        "x": 947.8793334960938,
                        "y": 3520.902099609375,
                        "z": 370.802490234375
                    },
                    "rotation": {
                        "roll": -3.052279134863056e-05,
                        "pitch": -0.28762608766555786,
                        "yaw": -80.84535217285156
                    }
                },
                "velocity": {
                    "x": 1.2945659160614014,
                    "y": -8.03681755065918,
                    "z": -0.02162477932870388
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003631591796875,
                "transform": {
                    "location": {
                        "x": 950.4406127929688,
                        "y": 3484.55029296875,
                        "z": 370.68548583984375
                    },
                    "rotation": {
                        "roll": -0.0008850099984556437,
                        "pitch": -0.228237584233284,
                        "yaw": -80.86760711669922
                    }
                },
                "velocity": {
                    "x": 1.2700650691986084,
                    "y": -7.902158737182617,
                    "z": -0.030664633959531784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075130462646484,
                "transform": {
                    "location": {
                        "x": 954.5355224609375,
                        "y": 3479.55810546875,
                        "z": 370.6485900878906
                    },
                    "rotation": {
                        "roll": 0.0007139339577406645,
                        "pitch": -0.2308603823184967,
                        "yaw": -80.86347961425781
                    }
                },
                "velocity": {
                    "x": 1.2823503017425537,
                    "y": -7.972593307495117,
                    "z": -0.03259894624352455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.4326171875,
                        "y": 3440.615966796875,
                        "z": 370.47955322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33260971307754517,
                        "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": 4838,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.4038696289062,
                        "y": 3436.33984375,
                        "z": 370.4547424316406
                    },
                    "rotation": {
                        "roll": 1.3340463844713213e-08,
                        "pitch": -0.3518025279045105,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8360595703125,
                        "y": 3429.9345703125,
                        "z": 370.4156799316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.15382194519043,
                "transform": {
                    "location": {
                        "x": 950.2198486328125,
                        "y": 3464.212646484375,
                        "z": 370.6337890625
                    },
                    "rotation": {
                        "roll": -0.0002746703685261309,
                        "pitch": 0.22111369669437408,
                        "yaw": 99.12860870361328
                    }
                },
                "velocity": {
                    "x": -1.612939715385437,
                    "y": 10.024801254272461,
                    "z": 0.04329850897192955
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.668074607849121,
                "transform": {
                    "location": {
                        "x": 946.638427734375,
                        "y": 3486.4580078125,
                        "z": 370.6921081542969
                    },
                    "rotation": {
                        "roll": 0.00159749505110085,
                        "pitch": 0.13725946843624115,
                        "yaw": 99.14044952392578
                    }
                },
                "velocity": {
                    "x": -1.5347323417663574,
                    "y": 9.545412063598633,
                    "z": 0.037200212478637695
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.59545373916626,
                "transform": {
                    "location": {
                        "x": 934.0338745117188,
                        "y": 3544.32470703125,
                        "z": 370.8484191894531
                    },
                    "rotation": {
                        "roll": -9.154739382211119e-05,
                        "pitch": 0.11413928866386414,
                        "yaw": 99.14495849609375
                    }
                },
                "velocity": {
                    "x": -1.2071378231048584,
                    "y": 7.498908042907715,
                    "z": 0.0106347082182765
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.479437351226807,
                "transform": {
                    "location": {
                        "x": 931.4088745117188,
                        "y": 3560.6455078125,
                        "z": 370.8773498535156
                    },
                    "rotation": {
                        "roll": 0.0008400429505854845,
                        "pitch": 0.15581026673316956,
                        "yaw": 99.16999053955078
                    }
                },
                "velocity": {
                    "x": -0.7139449119567871,
                    "y": 4.422175407409668,
                    "z": 0.0021594713907688856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.4064331054688,
                        "y": 3445.005615234375,
                        "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.287252426147461,
                "transform": {
                    "location": {
                        "x": 943.237548828125,
                        "y": 3507.596435546875,
                        "z": 370.7596740722656
                    },
                    "rotation": {
                        "roll": -0.00018310204904992133,
                        "pitch": -0.1851254403591156,
                        "yaw": 99.16484069824219
                    }
                },
                "velocity": {
                    "x": -1.1584101915359497,
                    "y": 7.194559097290039,
                    "z": 0.021331442520022392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047585487365723,
                "transform": {
                    "location": {
                        "x": 940.2994995117188,
                        "y": 3525.842529296875,
                        "z": 370.8121643066406
                    },
                    "rotation": {
                        "roll": 0.0005123591399751604,
                        "pitch": 0.14444483816623688,
                        "yaw": 99.1259994506836
                    }
                },
                "velocity": {
                    "x": -1.2780005931854248,
                    "y": 7.945432662963867,
                    "z": 0.02117927558720112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3158295750617981,
        "expert_target_speed": 10.0,
        "target_point": [
            30.569324362010985,
            -2.1069844505451663
        ],
        "target_point_next": [
            56.78699104270714,
            -3.5995322745158482
        ]
    },
    "590": {
        "acceleration": [
            1.4612674713134766,
            -2.3752593994140625,
            0.004919841885566711
        ],
        "angular_velocity": [
            -0.4160878658294678,
            -0.5836068391799927,
            -6.039727687835693
        ],
        "forward_vector": [
            -0.1974179744720459,
            0.9803193807601929,
            7.462500798283145e-05
        ],
        "right_vector": [
            -0.9803122282028198,
            -0.1974162459373474,
            -0.0038240898866206408
        ],
        "location": [
            938.1155395507812,
            3516.378662109375,
            370.7855529785156
        ],
        "rotation": [
            0.21910475194454193,
            0.004275698214769363,
            101.3860092163086
        ],
        "velocity": [
            -2.3710131645202637,
            11.93673324584961,
            0.033372048288583755
        ],
        "speed": 12.16993442911258,
        "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": 30.115859985351562,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                933.736083984375,
                3546.17431640625,
                370.8515930175781
            ],
            "velocity": [
                -1.131346344947815,
                7.027585983276367,
                0.011320209130644798
            ],
            "speed_kmh": 25.62508156814499,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.27193909883499146,
                "transform": {
                    "location": {
                        "x": 936.69482421875,
                        "y": 3569.32861328125,
                        "z": 370.7897644042969
                    },
                    "rotation": {
                        "roll": 0.00035880852374248207,
                        "pitch": -0.052551474422216415,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": -1.7922615370480344e-05,
                    "y": -0.0002564260212238878,
                    "z": 0.2719389796257019
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.288341999053955,
                "transform": {
                    "location": {
                        "x": 941.6953125,
                        "y": 3559.176513671875,
                        "z": 370.87548828125
                    },
                    "rotation": {
                        "roll": -0.0014343255897983909,
                        "pitch": -0.10998652875423431,
                        "yaw": -80.52094268798828
                    }
                },
                "velocity": {
                    "x": 1.19500732421875,
                    "y": -7.189703941345215,
                    "z": -0.006748847663402557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.011529922485352,
                "transform": {
                    "location": {
                        "x": 943.902099609375,
                        "y": 3525.16357421875,
                        "z": 370.8107604980469
                    },
                    "rotation": {
                        "roll": 0.0006996099255047739,
                        "pitch": -0.15313966572284698,
                        "yaw": -80.8232650756836
                    }
                },
                "velocity": {
                    "x": 1.2776801586151123,
                    "y": -7.908962249755859,
                    "z": -0.02144726738333702
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.892734527587891,
                "transform": {
                    "location": {
                        "x": 948.1964111328125,
                        "y": 3518.935302734375,
                        "z": 370.7967529296875
                    },
                    "rotation": {
                        "roll": -0.0006408835761249065,
                        "pitch": -0.25662386417388916,
                        "yaw": -80.84025573730469
                    }
                },
                "velocity": {
                    "x": 1.256191611289978,
                    "y": -7.792097568511963,
                    "z": -0.021287988871335983
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064919471740723,
                "transform": {
                    "location": {
                        "x": 950.7594604492188,
                        "y": 3482.567138671875,
                        "z": 370.6775207519531
                    },
                    "rotation": {
                        "roll": 6.834245141362771e-05,
                        "pitch": -0.22839468717575073,
                        "yaw": -80.86824798583984
                    }
                },
                "velocity": {
                    "x": 1.2799317836761475,
                    "y": -7.962637901306152,
                    "z": -0.03314042463898659
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02402400970459,
                "transform": {
                    "location": {
                        "x": 954.8550415039062,
                        "y": 3477.571533203125,
                        "z": 370.6403503417969
                    },
                    "rotation": {
                        "roll": 0.00011353955051163211,
                        "pitch": -0.24038849771022797,
                        "yaw": -80.86290740966797
                    }
                },
                "velocity": {
                    "x": 1.2740978002548218,
                    "y": -7.922152996063232,
                    "z": -0.03365558013319969
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4839,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.7435913085938,
                        "y": 3438.55615234375,
                        "z": 370.466552734375
                    },
                    "rotation": {
                        "roll": 1.3340463844713213e-08,
                        "pitch": -0.3518025279045105,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.2833251953125,
                        "y": 3433.36962890625,
                        "z": 370.43768310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.07645034790039,
                "transform": {
                    "location": {
                        "x": 949.8365478515625,
                        "y": 3466.59326171875,
                        "z": 370.6446838378906
                    },
                    "rotation": {
                        "roll": -0.0001220632839249447,
                        "pitch": 0.1344112902879715,
                        "yaw": 99.14579010009766
                    }
                },
                "velocity": {
                    "x": -1.44294273853302,
                    "y": 8.96094036102295,
                    "z": 0.0374709889292717
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.995241165161133,
                "transform": {
                    "location": {
                        "x": 946.296630859375,
                        "y": 3488.583984375,
                        "z": 370.7001037597656
                    },
                    "rotation": {
                        "roll": -0.00012206635437905788,
                        "pitch": -0.0623459629714489,
                        "yaw": 99.12479400634766
                    }
                },
                "velocity": {
                    "x": -1.2697659730911255,
                    "y": 7.89371395111084,
                    "z": 0.029246710240840912
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.118078231811523,
                "transform": {
                    "location": {
                        "x": 933.736083984375,
                        "y": 3546.17431640625,
                        "z": 370.8515930175781
                    },
                    "rotation": {
                        "roll": 0.0004680152051150799,
                        "pitch": 0.08548664301633835,
                        "yaw": 99.14498901367188
                    }
                },
                "velocity": {
                    "x": -1.131346344947815,
                    "y": 7.027585983276367,
                    "z": 0.011320209130644798
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.33413553237915,
                "transform": {
                    "location": {
                        "x": 931.2439575195312,
                        "y": 3561.667724609375,
                        "z": 370.8787536621094
                    },
                    "rotation": {
                        "roll": 0.0011980527779087424,
                        "pitch": 0.09566362202167511,
                        "yaw": 99.16735076904297
                    }
                },
                "velocity": {
                    "x": -0.6906851530075073,
                    "y": 4.278747081756592,
                    "z": 0.0026177309919148684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.766441345214844,
                "transform": {
                    "location": {
                        "x": 952.9244384765625,
                        "y": 3448.23828125,
                        "z": 370.522216796875
                    },
                    "rotation": {
                        "roll": -0.059967029839754105,
                        "pitch": -0.49962830543518066,
                        "yaw": 99.28475952148438
                    }
                },
                "velocity": {
                    "x": -1.4766170978546143,
                    "y": 9.654071807861328,
                    "z": 0.04341145232319832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.355411529541016,
                "transform": {
                    "location": {
                        "x": 942.9509887695312,
                        "y": 3509.375,
                        "z": 370.76422119140625
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.008148415014147758,
                        "yaw": 99.13888549804688
                    }
                },
                "velocity": {
                    "x": -1.1700667142868042,
                    "y": 7.261719226837158,
                    "z": 0.021371258422732353
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049331665039062,
                "transform": {
                    "location": {
                        "x": 939.97998046875,
                        "y": 3527.82861328125,
                        "z": 370.8172302246094
                    },
                    "rotation": {
                        "roll": 0.0004215654043946415,
                        "pitch": 0.14555132389068604,
                        "yaw": 99.15467071533203
                    }
                },
                "velocity": {
                    "x": -1.2780731916427612,
                    "y": 7.9471917152404785,
                    "z": 0.02025710977613926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3505328297615051,
        "expert_target_speed": 10.0,
        "target_point": [
            27.487750847277447,
            -1.5878873355762617
        ],
        "target_point_next": [
            53.72773920764389,
            -2.615873733715083
        ]
    },
    "595": {
        "acceleration": [
            1.6953063011169434,
            -2.6424407958984375,
            -0.011276006698608398
        ],
        "angular_velocity": [
            -0.20661845803260803,
            -0.46827858686447144,
            -4.508992671966553
        ],
        "forward_vector": [
            -0.17422667145729065,
            0.9847040176391602,
            -0.001716732163913548
        ],
        "right_vector": [
            -0.9846854209899902,
            -0.17423398792743683,
            -0.006089568138122559
        ],
        "location": [
            937.5731201171875,
            3519.27734375,
            370.79388427734375
        ],
        "rotation": [
            0.3489092290401459,
            -0.0983615517616272,
            100.03367614746094
        ],
        "velocity": [
            -1.9499987363815308,
            11.286099433898926,
            0.03218575567007065
        ],
        "speed": 11.453319846391404,
        "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": 28.770021438598633,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                933.4816284179688,
                3547.7548828125,
                370.8543701171875
            ],
            "velocity": [
                -0.8351444005966187,
                5.187939167022705,
                0.008662653155624866
            ],
            "speed_kmh": 18.91705082715803,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.42946773767471313,
                "transform": {
                    "location": {
                        "x": 936.6978149414062,
                        "y": 3569.3115234375,
                        "z": 370.8787841796875
                    },
                    "rotation": {
                        "roll": -0.001800537807866931,
                        "pitch": -0.01785411313176155,
                        "yaw": -80.84935760498047
                    }
                },
                "velocity": {
                    "x": 0.05817867070436478,
                    "y": -0.33285677433013916,
                    "z": 0.26507386565208435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.337072372436523,
                "transform": {
                    "location": {
                        "x": 942.0084228515625,
                        "y": 3557.278076171875,
                        "z": 370.8737487792969
                    },
                    "rotation": {
                        "roll": -0.004302965942770243,
                        "pitch": -0.14422626793384552,
                        "yaw": -80.63301849365234
                    }
                },
                "velocity": {
                    "x": 1.346335768699646,
                    "y": -8.227640151977539,
                    "z": -0.009466199204325676
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048709869384766,
                "transform": {
                    "location": {
                        "x": 944.2216796875,
                        "y": 3523.183349609375,
                        "z": 370.8055114746094
                    },
                    "rotation": {
                        "roll": 0.001041580573655665,
                        "pitch": -0.14834487438201904,
                        "yaw": -80.83476257324219
                    }
                },
                "velocity": {
                    "x": 1.282114863395691,
                    "y": -7.945908069610596,
                    "z": -0.021168755367398262
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.13550090789795,
                "transform": {
                    "location": {
                        "x": 948.5151977539062,
                        "y": 3516.956787109375,
                        "z": 370.7900390625
                    },
                    "rotation": {
                        "roll": 3.3350595618486523e-09,
                        "pitch": -0.10980211198329926,
                        "yaw": -80.84342956542969
                    }
                },
                "velocity": {
                    "x": 1.2944369316101074,
                    "y": -8.03183364868164,
                    "z": -0.021394699811935425
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0043363571167,
                "transform": {
                    "location": {
                        "x": 951.0782470703125,
                        "y": 3480.584228515625,
                        "z": 370.66943359375
                    },
                    "rotation": {
                        "roll": -6.1031947552692145e-05,
                        "pitch": -0.2264958918094635,
                        "yaw": -80.86519622802734
                    }
                },
                "velocity": {
                    "x": 1.2707990407943726,
                    "y": -7.902748107910156,
                    "z": -0.03218825161457062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075201988220215,
                "transform": {
                    "location": {
                        "x": 955.174560546875,
                        "y": 3475.584228515625,
                        "z": 370.6319885253906
                    },
                    "rotation": {
                        "roll": 0.0009556211298331618,
                        "pitch": -0.23916588723659515,
                        "yaw": -80.86290740966797
                    }
                },
                "velocity": {
                    "x": 1.2822973728179932,
                    "y": -7.97266960144043,
                    "z": -0.03367950767278671
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.931396484375,
                        "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.379962921142578,
                "transform": {
                    "location": {
                        "x": 949.4744262695312,
                        "y": 3468.841796875,
                        "z": 370.65325927734375
                    },
                    "rotation": {
                        "roll": 0.00011151174840051681,
                        "pitch": 0.23254060745239258,
                        "yaw": 99.14312744140625
                    }
                },
                "velocity": {
                    "x": -1.491258978843689,
                    "y": 9.260583877563477,
                    "z": 0.037736549973487854
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.315740585327148,
                "transform": {
                    "location": {
                        "x": 945.9768676757812,
                        "y": 3490.57177734375,
                        "z": 370.70745849609375
                    },
                    "rotation": {
                        "roll": -0.0007018991163931787,
                        "pitch": 0.19001585245132446,
                        "yaw": 99.14800262451172
                    }
                },
                "velocity": {
                    "x": -1.3212840557098389,
                    "y": 8.210049629211426,
                    "z": 0.02879520319402218
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.254736423492432,
                "transform": {
                    "location": {
                        "x": 933.4816284179688,
                        "y": 3547.7548828125,
                        "z": 370.8543701171875
                    },
                    "rotation": {
                        "roll": 9.251775918528438e-05,
                        "pitch": 0.058206867426633835,
                        "yaw": 99.14496612548828
                    }
                },
                "velocity": {
                    "x": -0.8351444005966187,
                    "y": 5.187939167022705,
                    "z": 0.008662653155624866
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.229308128356934,
                "transform": {
                    "location": {
                        "x": 931.0503540039062,
                        "y": 3562.861572265625,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": 0.01016942784190178,
                        "pitch": -0.023837359622120857,
                        "yaw": 99.21172332763672
                    }
                },
                "velocity": {
                    "x": -0.8767764568328857,
                    "y": 5.155276775360107,
                    "z": 0.006721687037497759
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4785766601562,
                        "y": 3450.99560546875,
                        "z": 370.5359191894531
                    },
                    "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.232528686523438,
                "transform": {
                    "location": {
                        "x": 942.637939453125,
                        "y": 3511.318603515625,
                        "z": 370.7684631347656
                    },
                    "rotation": {
                        "roll": -0.0012206952087581158,
                        "pitch": 0.3723340928554535,
                        "yaw": 99.17317199707031
                    }
                },
                "velocity": {
                    "x": -1.309518575668335,
                    "y": 8.127680778503418,
                    "z": 0.02213663049042225
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04761791229248,
                "transform": {
                    "location": {
                        "x": 939.6602783203125,
                        "y": 3529.815185546875,
                        "z": 370.822265625
                    },
                    "rotation": {
                        "roll": -0.0008850125013850629,
                        "pitch": 0.1446429044008255,
                        "yaw": 99.12862396240234
                    }
                },
                "velocity": {
                    "x": -1.2788622379302979,
                    "y": 7.945326328277588,
                    "z": 0.02120993658900261
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3512192964553833,
        "expert_target_speed": 10.0,
        "target_point": [
            24.568717961874423,
            -0.9678092263996962
        ],
        "target_point_next": [
            50.82565878651753,
            -1.3762253354298508
        ]
    },
    "600": {
        "acceleration": [
            2.0917510986328125,
            -7.257862091064453,
            -0.014814957976341248
        ],
        "angular_velocity": [
            -1.3602296113967896,
            -0.13175125420093536,
            -5.696371078491211
        ],
        "forward_vector": [
            -0.14986051619052887,
            0.9887058734893799,
            -0.0015871516661718488
        ],
        "right_vector": [
            -0.9886834621429443,
            -0.14986786246299744,
            -0.006681111641228199
        ],
        "location": [
            937.1283569335938,
            3522.0341796875,
            370.8014831542969
        ],
        "rotation": [
            0.3828028440475464,
            -0.09093713015317917,
            98.61885833740234
        ],
        "velocity": [
            -1.5720363855361938,
            10.645989418029785,
            0.02848079614341259
        ],
        "speed": 10.76143062451512,
        "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": 27.019121170043945,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                933.316162109375,
                3548.782958984375,
                370.8556823730469
            ],
            "velocity": [
                -0.6568676829338074,
                4.0811848640441895,
                0.005995912477374077
            ],
            "speed_kmh": 14.881365855950536,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8035271167755127,
                "transform": {
                    "location": {
                        "x": 936.7271118164062,
                        "y": 3569.14501953125,
                        "z": 370.9002685546875
                    },
                    "rotation": {
                        "roll": -0.0061035179533064365,
                        "pitch": 0.08890173584222794,
                        "yaw": -80.81661224365234
                    }
                },
                "velocity": {
                    "x": 0.13978654146194458,
                    "y": -0.7906822562217712,
                    "z": -0.03061254881322384
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.041358947753906,
                "transform": {
                    "location": {
                        "x": 942.3875732421875,
                        "y": 3554.96142578125,
                        "z": 370.87164306640625
                    },
                    "rotation": {
                        "roll": -0.0014953691279515624,
                        "pitch": -0.22378431260585785,
                        "yaw": -80.69709777832031
                    }
                },
                "velocity": {
                    "x": 1.6181684732437134,
                    "y": -9.910111427307129,
                    "z": -0.009830751456320286
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049972534179688,
                "transform": {
                    "location": {
                        "x": 944.5421752929688,
                        "y": 3521.194580078125,
                        "z": 370.8001403808594
                    },
                    "rotation": {
                        "roll": 0.0009339984972029924,
                        "pitch": -0.15762026607990265,
                        "yaw": -80.84303283691406
                    }
                },
                "velocity": {
                    "x": 1.2811332941055298,
                    "y": -7.9473466873168945,
                    "z": -0.02103501744568348
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.115623474121094,
                "transform": {
                    "location": {
                        "x": 948.8395385742188,
                        "y": 3514.94482421875,
                        "z": 370.78460693359375
                    },
                    "rotation": {
                        "roll": -0.0003662030503619462,
                        "pitch": -0.12555253505706787,
                        "yaw": -80.84459686279297
                    }
                },
                "velocity": {
                    "x": 1.2913033962249756,
                    "y": -8.01220417022705,
                    "z": -0.021594466641545296
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064274787902832,
                "transform": {
                    "location": {
                        "x": 951.3973999023438,
                        "y": 3478.60107421875,
                        "z": 370.66131591796875
                    },
                    "rotation": {
                        "roll": -0.00033568256185390055,
                        "pitch": -0.2335241585969925,
                        "yaw": -80.85968780517578
                    }
                },
                "velocity": {
                    "x": 1.2827396392822266,
                    "y": -7.961534023284912,
                    "z": -0.032917048782110214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024087905883789,
                "transform": {
                    "location": {
                        "x": 955.4943237304688,
                        "y": 3473.59765625,
                        "z": 370.6236267089844
                    },
                    "rotation": {
                        "roll": 0.00020924305135849863,
                        "pitch": -0.23916588723659515,
                        "yaw": -80.85948181152344
                    }
                },
                "velocity": {
                    "x": 1.2746875286102295,
                    "y": -7.922125816345215,
                    "z": -0.03297428414225578
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.4125366210938,
                        "y": 3438.780517578125,
                        "z": 370.4708557128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.995166778564453,
                "transform": {
                    "location": {
                        "x": 949.081787109375,
                        "y": 3471.279541015625,
                        "z": 370.6629333496094
                    },
                    "rotation": {
                        "roll": 0.0008860953967086971,
                        "pitch": 0.2944630980491638,
                        "yaw": 99.15452575683594
                    }
                },
                "velocity": {
                    "x": -1.5898492336273193,
                    "y": 9.867831230163574,
                    "z": 0.040457628667354584
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.909111022949219,
                "transform": {
                    "location": {
                        "x": 945.62890625,
                        "y": 3492.734619140625,
                        "z": 370.71533203125
                    },
                    "rotation": {
                        "roll": -6.104563362896442e-05,
                        "pitch": 0.2965736389160156,
                        "yaw": 99.13667297363281
                    }
                },
                "velocity": {
                    "x": -1.4147309064865112,
                    "y": 8.796004295349121,
                    "z": 0.03324401006102562
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.1337127685546875,
                "transform": {
                    "location": {
                        "x": 933.316162109375,
                        "y": 3548.782958984375,
                        "z": 370.8556823730469
                    },
                    "rotation": {
                        "roll": -0.000152592096128501,
                        "pitch": 0.057926829904317856,
                        "yaw": 99.14396667480469
                    }
                },
                "velocity": {
                    "x": -0.6568676829338074,
                    "y": 4.0811848640441895,
                    "z": 0.005995912477374077
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.761458873748779,
                "transform": {
                    "location": {
                        "x": 930.8461303710938,
                        "y": 3564.075439453125,
                        "z": 370.88116455078125
                    },
                    "rotation": {
                        "roll": 0.003858195850625634,
                        "pitch": 0.06706562638282776,
                        "yaw": 99.40538024902344
                    }
                },
                "velocity": {
                    "x": -0.7957280278205872,
                    "y": 4.6944966316223145,
                    "z": 0.003233957104384899
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.0037231445312,
                        "y": 3453.79150390625,
                        "z": 370.5516052246094
                    },
                    "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.387374877929688,
                "transform": {
                    "location": {
                        "x": 942.2892456054688,
                        "y": 3513.483154296875,
                        "z": 370.7737121582031
                    },
                    "rotation": {
                        "roll": -0.00039670421392656863,
                        "pitch": 0.5701500177383423,
                        "yaw": 99.17152404785156
                    }
                },
                "velocity": {
                    "x": -1.493834137916565,
                    "y": 9.267720222473145,
                    "z": 0.025126943364739418
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048990249633789,
                "transform": {
                    "location": {
                        "x": 939.340576171875,
                        "y": 3531.801513671875,
                        "z": 370.8271789550781
                    },
                    "rotation": {
                        "roll": -9.156080341199413e-05,
                        "pitch": 0.13581830263137817,
                        "yaw": 99.16082000732422
                    }
                },
                "velocity": {
                    "x": -1.2796435356140137,
                    "y": 7.946597576141357,
                    "z": 0.018220577389001846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3156642019748688,
        "expert_target_speed": 10.0,
        "target_point": [
            21.79276787522902,
            -0.3874998738694586
        ],
        "target_point_next": [
            48.051788088476535,
            -0.14749440063359742
        ]
    },
    "605": {
        "acceleration": [
            0.9434318542480469,
            -5.016841888427734,
            -0.020344369113445282
        ],
        "angular_velocity": [
            -0.31335902214050293,
            0.506392776966095,
            0.16033142805099487
        ],
        "forward_vector": [
            -0.1334238201379776,
            0.9910299777984619,
            -0.0075861671939492226
        ],
        "right_vector": [
            -0.9910417199134827,
            -0.13346287608146667,
            -0.00489494064822793
        ],
        "location": [
            936.791015625,
            3524.439208984375,
            370.8089904785156
        ],
        "rotation": [
            0.2804686427116394,
            -0.43465954065322876,
            97.66770935058594
        ],
        "velocity": [
            -1.1824278831481934,
            8.92230224609375,
            0.023292597383260727
        ],
        "speed": 9.000311831792047,
        "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": 25.702138900756836,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                933.1396484375,
                3549.880615234375,
                370.85699462890625
            ],
            "velocity": [
                -0.7526020407676697,
                4.677116394042969,
                0.0055336663499474525
            ],
            "speed_kmh": 17.05422183765262,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.763804316520691,
                "transform": {
                    "location": {
                        "x": 936.7807006835938,
                        "y": 3568.833251953125,
                        "z": 370.8858642578125
                    },
                    "rotation": {
                        "roll": -0.0086669921875,
                        "pitch": 0.13084593415260315,
                        "yaw": -80.63887023925781
                    }
                },
                "velocity": {
                    "x": 0.3075769245624542,
                    "y": -1.7360851764678955,
                    "z": -0.04909561946988106
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.910689353942871,
                "transform": {
                    "location": {
                        "x": 942.8096923828125,
                        "y": 3552.369873046875,
                        "z": 370.8682861328125
                    },
                    "rotation": {
                        "roll": -0.003540040459483862,
                        "pitch": -0.16787920892238617,
                        "yaw": -80.75901794433594
                    }
                },
                "velocity": {
                    "x": 1.7459207773208618,
                    "y": -10.770084381103516,
                    "z": -0.013279618695378304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.029574394226074,
                "transform": {
                    "location": {
                        "x": 944.8616943359375,
                        "y": 3519.2119140625,
                        "z": 370.7946472167969
                    },
                    "rotation": {
                        "roll": 0.0017669847002252936,
                        "pitch": -0.1604343056678772,
                        "yaw": -80.84817504882812
                    }
                },
                "velocity": {
                    "x": 1.276120662689209,
                    "y": -7.927491664886475,
                    "z": -0.021310042589902878
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05231761932373,
                "transform": {
                    "location": {
                        "x": 949.1605224609375,
                        "y": 3512.952392578125,
                        "z": 370.7795104980469
                    },
                    "rotation": {
                        "roll": 3.4871496609412134e-05,
                        "pitch": -0.18579480051994324,
                        "yaw": -80.84727478027344
                    }
                },
                "velocity": {
                    "x": 1.2808581590652466,
                    "y": -7.949763774871826,
                    "z": -0.021868348121643066
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005136489868164,
                "transform": {
                    "location": {
                        "x": 951.716552734375,
                        "y": 3476.6181640625,
                        "z": 370.653076171875
                    },
                    "rotation": {
                        "roll": -0.0006408693152479827,
                        "pitch": -0.23818917572498322,
                        "yaw": -80.85814666748047
                    }
                },
                "velocity": {
                    "x": 1.2717045545578003,
                    "y": -7.9034104347229,
                    "z": -0.03296058252453804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074474334716797,
                "transform": {
                    "location": {
                        "x": 955.8140258789062,
                        "y": 3471.61083984375,
                        "z": 370.6152648925781
                    },
                    "rotation": {
                        "roll": -6.104533531470224e-05,
                        "pitch": -0.23684363067150116,
                        "yaw": -80.8592300415039
                    }
                },
                "velocity": {
                    "x": 1.2827507257461548,
                    "y": -7.971860885620117,
                    "z": -0.03335953503847122
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.8600463867188,
                        "y": 3442.21435546875,
                        "z": 370.4908447265625
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.121757507324219,
                "transform": {
                    "location": {
                        "x": 948.7049560546875,
                        "y": 3473.618896484375,
                        "z": 370.67376708984375
                    },
                    "rotation": {
                        "roll": 0.0001756647980073467,
                        "pitch": 0.18067215383052826,
                        "yaw": 99.14630889892578
                    }
                },
                "velocity": {
                    "x": -1.4503631591796875,
                    "y": 9.005633354187012,
                    "z": 0.038509301841259
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.418438911437988,
                "transform": {
                    "location": {
                        "x": 945.2344970703125,
                        "y": 3495.181396484375,
                        "z": 370.7240295410156
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": 0.4354655146598816,
                        "yaw": 99.16890716552734
                    }
                },
                "velocity": {
                    "x": -1.6575660705566406,
                    "y": 10.285673141479492,
                    "z": 0.035689640790224075
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.737283706665039,
                "transform": {
                    "location": {
                        "x": 933.1396484375,
                        "y": 3549.880615234375,
                        "z": 370.85699462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.08553445339202881,
                        "yaw": 99.141845703125
                    }
                },
                "velocity": {
                    "x": -0.7526020407676697,
                    "y": 4.677116394042969,
                    "z": 0.0055336663499474525
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.652276515960693,
                "transform": {
                    "location": {
                        "x": 930.6494140625,
                        "y": 3565.240478515625,
                        "z": 370.88214111328125
                    },
                    "rotation": {
                        "roll": 0.00032145596924237907,
                        "pitch": 0.06521464139223099,
                        "yaw": 99.5029296875
                    }
                },
                "velocity": {
                    "x": -0.7778997421264648,
                    "y": 4.5867767333984375,
                    "z": 0.005078925751149654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.746109008789062,
                "transform": {
                    "location": {
                        "x": 951.452392578125,
                        "y": 3457.00830078125,
                        "z": 370.5657653808594
                    },
                    "rotation": {
                        "roll": 0.02615594118833542,
                        "pitch": -0.5426653027534485,
                        "yaw": 99.28653717041016
                    }
                },
                "velocity": {
                    "x": -1.6410236358642578,
                    "y": 9.606884002685547,
                    "z": 0.03825259208679199
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.421211242675781,
                "transform": {
                    "location": {
                        "x": 941.9076538085938,
                        "y": 3515.849853515625,
                        "z": 370.7809753417969
                    },
                    "rotation": {
                        "roll": -0.0004577527579385787,
                        "pitch": 0.3801683187484741,
                        "yaw": 99.1708755493164
                    }
                },
                "velocity": {
                    "x": -1.4996206760406494,
                    "y": 9.301058769226074,
                    "z": 0.02555680274963379
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04978084564209,
                "transform": {
                    "location": {
                        "x": 939.0208129882812,
                        "y": 3533.787841796875,
                        "z": 370.8316345214844
                    },
                    "rotation": {
                        "roll": -0.00015258566418197006,
                        "pitch": 0.11743826419115067,
                        "yaw": 99.13208770751953
                    }
                },
                "velocity": {
                    "x": -1.2799774408340454,
                    "y": 7.947348594665527,
                    "z": 0.016630496829748154
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3276129961013794,
        "expert_target_speed": 9.184495474780265,
        "target_point": [
            19.36766203598247,
            -0.039117890213362205
        ],
        "target_point_next": [
            45.61908004514162,
            0.6367502147592603
        ]
    },
    "610": {
        "acceleration": [
            0.5478024482727051,
            -4.147529602050781,
            -0.008244141936302185
        ],
        "angular_velocity": [
            0.2121477723121643,
            0.6662348508834839,
            -3.025146961212158
        ],
        "forward_vector": [
            -0.12858925759792328,
            0.9916743040084839,
            -0.006844824180006981
        ],
        "right_vector": [
            -0.9916927218437195,
            -0.12860779464244843,
            -0.0023406308609992266
        ],
        "location": [
            936.517333984375,
            3526.5224609375,
            370.81396484375
        ],
        "rotation": [
            0.13411152362823486,
            -0.3921826183795929,
            97.38825225830078
        ],
        "velocity": [
            -1.008520245552063,
            7.818131446838379,
            0.020665358752012253
        ],
        "speed": 7.8829114168390575,
        "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": 24.86509895324707,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                932.9387817382812,
                3551.128662109375,
                370.8589782714844
            ],
            "velocity": [
                -0.8275202512741089,
                5.140797138214111,
                0.007665347773581743
            ],
            "speed_kmh": 18.74512904387803,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.4038608074188232,
                "transform": {
                    "location": {
                        "x": 936.8910522460938,
                        "y": 3568.19873046875,
                        "z": 370.8791809082031
                    },
                    "rotation": {
                        "roll": -0.003723145229741931,
                        "pitch": 0.30300766229629517,
                        "yaw": -80.49700927734375
                    }
                },
                "velocity": {
                    "x": 0.5713648200035095,
                    "y": -3.3555638790130615,
                    "z": -0.0012208556290715933
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.766357421875,
                "transform": {
                    "location": {
                        "x": 943.2640380859375,
                        "y": 3549.566162109375,
                        "z": 370.8641662597656
                    },
                    "rotation": {
                        "roll": -0.0003967331722378731,
                        "pitch": -0.17788544297218323,
                        "yaw": -80.79927825927734
                    }
                },
                "velocity": {
                    "x": 1.8814573287963867,
                    "y": -11.614946365356445,
                    "z": -0.01744830049574375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05048656463623,
                "transform": {
                    "location": {
                        "x": 945.18115234375,
                        "y": 3517.226806640625,
                        "z": 370.7890930175781
                    },
                    "rotation": {
                        "roll": 0.0001215031006722711,
                        "pitch": -0.15591271221637726,
                        "yaw": -80.85679626464844
                    }
                },
                "velocity": {
                    "x": 1.2792086601257324,
                    "y": -7.948174953460693,
                    "z": -0.02182159386575222
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052247047424316,
                "transform": {
                    "location": {
                        "x": 949.4802856445312,
                        "y": 3510.967041015625,
                        "z": 370.77362060546875
                    },
                    "rotation": {
                        "roll": 0.001039320370182395,
                        "pitch": -0.16931354999542236,
                        "yaw": -80.85084533691406
                    }
                },
                "velocity": {
                    "x": 1.2803869247436523,
                    "y": -7.949768543243408,
                    "z": -0.02154742181301117
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063694953918457,
                "transform": {
                    "location": {
                        "x": 952.0358276367188,
                        "y": 3474.635009765625,
                        "z": 370.64471435546875
                    },
                    "rotation": {
                        "roll": -0.000335696036927402,
                        "pitch": -0.2386399656534195,
                        "yaw": -80.85492706298828
                    }
                },
                "velocity": {
                    "x": 1.2815688848495483,
                    "y": -7.961132526397705,
                    "z": -0.033659275621175766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024861335754395,
                "transform": {
                    "location": {
                        "x": 956.1337890625,
                        "y": 3469.624267578125,
                        "z": 370.6069030761719
                    },
                    "rotation": {
                        "roll": -0.0017089892644435167,
                        "pitch": -0.23764276504516602,
                        "yaw": -80.85395050048828
                    }
                },
                "velocity": {
                    "x": 1.2771625518798828,
                    "y": -7.922510147094727,
                    "z": -0.03307438641786575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.5952758789062,
                        "y": 3443.85986328125,
                        "z": 370.50018310546875
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.668316841125488,
                "transform": {
                    "location": {
                        "x": 948.3356323242188,
                        "y": 3475.9130859375,
                        "z": 370.68267822265625
                    },
                    "rotation": {
                        "roll": -0.0007019028416834772,
                        "pitch": 0.26528453826904297,
                        "yaw": 99.15189361572266
                    }
                },
                "velocity": {
                    "x": -1.537127137184143,
                    "y": 9.54526424407959,
                    "z": 0.03906935453414917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.471724510192871,
                "transform": {
                    "location": {
                        "x": 944.8381958007812,
                        "y": 3497.639404296875,
                        "z": 370.7322692871094
                    },
                    "rotation": {
                        "roll": 0.0008249401580542326,
                        "pitch": 0.10631871968507767,
                        "yaw": 99.14935302734375
                    }
                },
                "velocity": {
                    "x": -1.506642460823059,
                    "y": 9.351073265075684,
                    "z": 0.031854141503572464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.206980228424072,
                "transform": {
                    "location": {
                        "x": 932.9387817382812,
                        "y": 3551.128662109375,
                        "z": 370.8589782714844
                    },
                    "rotation": {
                        "roll": -9.155062434729189e-05,
                        "pitch": 0.07650494575500488,
                        "yaw": 99.1473388671875
                    }
                },
                "velocity": {
                    "x": -0.8275202512741089,
                    "y": 5.140797138214111,
                    "z": 0.007665347773581743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.49929141998291,
                "transform": {
                    "location": {
                        "x": 930.4591674804688,
                        "y": 3566.3642578125,
                        "z": 370.8832092285156
                    },
                    "rotation": {
                        "roll": -0.0005798327038064599,
                        "pitch": 0.06628698110580444,
                        "yaw": 99.55657196044922
                    }
                },
                "velocity": {
                    "x": -0.7526698708534241,
                    "y": 4.435885429382324,
                    "z": 0.005551357287913561
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.577200412750244,
                "transform": {
                    "location": {
                        "x": 951.1510009765625,
                        "y": 3458.7783203125,
                        "z": 370.5733947753906
                    },
                    "rotation": {
                        "roll": 0.016449229791760445,
                        "pitch": -0.3187853991985321,
                        "yaw": 99.47437286376953
                    }
                },
                "velocity": {
                    "x": -1.0986253023147583,
                    "y": 6.484740257263184,
                    "z": 0.027086609974503517
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.813791751861572,
                "transform": {
                    "location": {
                        "x": 941.5633544921875,
                        "y": 3517.988037109375,
                        "z": 370.7890625
                    },
                    "rotation": {
                        "roll": 0.0011472988408058882,
                        "pitch": -0.2028224617242813,
                        "yaw": 99.12889099121094
                    }
                },
                "velocity": {
                    "x": -1.2414907217025757,
                    "y": 7.71450662612915,
                    "z": 0.020760420709848404
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048492431640625,
                "transform": {
                    "location": {
                        "x": 938.7009887695312,
                        "y": 3535.77392578125,
                        "z": 370.835693359375
                    },
                    "rotation": {
                        "roll": -0.0007019034819677472,
                        "pitch": 0.11819642037153244,
                        "yaw": 99.16438293457031
                    }
                },
                "velocity": {
                    "x": -1.279128074645996,
                    "y": 7.9461798667907715,
                    "z": 0.017288265749812126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3249383568763733,
        "expert_target_speed": 8.393152235786928,
        "target_point": [
            17.26647325352674,
            0.05182929114408541
        ],
        "target_point_next": [
            43.51428241489892,
            0.8557319065839959
        ]
    },
    "615": {
        "acceleration": [
            0.0026857852935791016,
            -0.12922286987304688,
            0.0041647255420684814
        ],
        "angular_velocity": [
            1.2120115756988525,
            0.3161017596721649,
            2.9078564643859863
        ],
        "forward_vector": [
            -0.12823373079299927,
            0.9917330741882324,
            -0.004663093015551567
        ],
        "right_vector": [
            -0.9917428493499756,
            -0.12823918461799622,
            -0.0008918571984395385
        ],
        "location": [
            936.2791748046875,
            3528.363037109375,
            370.8182678222656
        ],
        "rotation": [
            0.05110021308064461,
            -0.2671765089035034,
            97.36762237548828
        ],
        "velocity": [
            -0.9208759665489197,
            7.1408562660217285,
            0.01769406348466873
        ],
        "speed": 7.199988941501868,
        "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": 24.40568733215332,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                932.7169799804688,
                3552.50732421875,
                370.8605041503906
            ],
            "velocity": [
                -0.9592112302780151,
                5.960611343383789,
                0.006060609593987465
            ],
            "speed_kmh": 21.73428572803663,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.4378838539123535,
                "transform": {
                    "location": {
                        "x": 937.0785522460938,
                        "y": 3567.091552734375,
                        "z": 370.8792419433594
                    },
                    "rotation": {
                        "roll": 0.005060182418674231,
                        "pitch": 0.4355269968509674,
                        "yaw": -80.43494415283203
                    }
                },
                "velocity": {
                    "x": 0.9096855521202087,
                    "y": -5.3612518310546875,
                    "z": 0.005585860926657915
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.550540924072266,
                "transform": {
                    "location": {
                        "x": 943.75,
                        "y": 3546.561767578125,
                        "z": 370.8592834472656
                    },
                    "rotation": {
                        "roll": -0.0014038104563951492,
                        "pitch": -0.17495527863502502,
                        "yaw": -80.82044219970703
                    }
                },
                "velocity": {
                    "x": 1.9983850717544556,
                    "y": -12.390403747558594,
                    "z": -0.020336270332336426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038965225219727,
                "transform": {
                    "location": {
                        "x": 945.5006103515625,
                        "y": 3515.240966796875,
                        "z": 370.7835998535156
                    },
                    "rotation": {
                        "roll": 0.0003698321233969182,
                        "pitch": -0.15823498368263245,
                        "yaw": -80.86082458496094
                    }
                },
                "velocity": {
                    "x": 1.2767603397369385,
                    "y": -7.936900615692139,
                    "z": -0.021285824477672577
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.111351013183594,
                "transform": {
                    "location": {
                        "x": 949.8018798828125,
                        "y": 3508.97021484375,
                        "z": 370.7677307128906
                    },
                    "rotation": {
                        "roll": 2.2565052859135903e-05,
                        "pitch": -0.1557624489068985,
                        "yaw": -80.85398864746094
                    }
                },
                "velocity": {
                    "x": 1.2892744541168213,
                    "y": -8.008201599121094,
                    "z": -0.02210155501961708
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004630088806152,
                "transform": {
                    "location": {
                        "x": 952.3549194335938,
                        "y": 3472.652099609375,
                        "z": 370.6363830566406
                    },
                    "rotation": {
                        "roll": -0.00021361865219660103,
                        "pitch": -0.23690509796142578,
                        "yaw": -80.85796356201172
                    }
                },
                "velocity": {
                    "x": 1.2718069553375244,
                    "y": -7.902882099151611,
                    "z": -0.03249412029981613
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074820518493652,
                "transform": {
                    "location": {
                        "x": 956.4536743164062,
                        "y": 3467.63720703125,
                        "z": 370.5985412597656
                    },
                    "rotation": {
                        "roll": -0.00018309599545318633,
                        "pitch": -0.23800475895404816,
                        "yaw": -80.85710144042969
                    }
                },
                "velocity": {
                    "x": 1.2814263105392456,
                    "y": -7.9724249839782715,
                    "z": -0.03342359513044357
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.197998046875,
                        "y": 3446.327392578125,
                        "z": 370.5135803222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.17890739440918,
                "transform": {
                    "location": {
                        "x": 947.9379272460938,
                        "y": 3478.381591796875,
                        "z": 370.69281005859375
                    },
                    "rotation": {
                        "roll": 0.0012147073866799474,
                        "pitch": 0.27825507521629333,
                        "yaw": 99.12722778320312
                    }
                },
                "velocity": {
                    "x": -1.6157983541488647,
                    "y": 10.04975700378418,
                    "z": 0.041626203805208206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.849203109741211,
                "transform": {
                    "location": {
                        "x": 944.502685546875,
                        "y": 3499.72314453125,
                        "z": 370.7391052246094
                    },
                    "rotation": {
                        "roll": 0.0015183843206614256,
                        "pitch": -0.07642298191785812,
                        "yaw": 99.15868377685547
                    }
                },
                "velocity": {
                    "x": -1.2473496198654175,
                    "y": 7.749416351318359,
                    "z": 0.025640305131673813
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.037301540374756,
                "transform": {
                    "location": {
                        "x": 932.7169799804688,
                        "y": 3552.50732421875,
                        "z": 370.8605041503906
                    },
                    "rotation": {
                        "roll": 0.00016464506916236132,
                        "pitch": 0.08145000040531158,
                        "yaw": 99.15682220458984
                    }
                },
                "velocity": {
                    "x": -0.9592112302780151,
                    "y": 5.960611343383789,
                    "z": 0.006060609593987465
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.331551551818848,
                "transform": {
                    "location": {
                        "x": 930.27490234375,
                        "y": 3567.451416015625,
                        "z": 370.8842468261719
                    },
                    "rotation": {
                        "roll": 0.0011078420793637633,
                        "pitch": 0.06716807931661606,
                        "yaw": 99.59220886230469
                    }
                },
                "velocity": {
                    "x": -0.7251442670822144,
                    "y": 4.270419120788574,
                    "z": 0.004998922348022461
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.329418182373047,
                "transform": {
                    "location": {
                        "x": 950.8822631835938,
                        "y": 3460.37109375,
                        "z": 370.58099365234375
                    },
                    "rotation": {
                        "roll": 0.011679342947900295,
                        "pitch": 0.11368165910243988,
                        "yaw": 99.53887176513672
                    }
                },
                "velocity": {
                    "x": -1.0444046258926392,
                    "y": 6.242591381072998,
                    "z": 0.02839265763759613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.207449913024902,
                "transform": {
                    "location": {
                        "x": 941.2710571289062,
                        "y": 3519.8056640625,
                        "z": 370.7940979003906
                    },
                    "rotation": {
                        "roll": 0.0020863295067101717,
                        "pitch": -0.2087988704442978,
                        "yaw": 99.15281677246094
                    }
                },
                "velocity": {
                    "x": -1.1444777250289917,
                    "y": 7.11597204208374,
                    "z": 0.02117135003209114
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048930168151855,
                "transform": {
                    "location": {
                        "x": 938.3811645507812,
                        "y": 3537.76025390625,
                        "z": 370.83978271484375
                    },
                    "rotation": {
                        "roll": -0.0011901829857379198,
                        "pitch": 0.11874966323375702,
                        "yaw": 99.1336898803711
                    }
                },
                "velocity": {
                    "x": -1.2802112102508545,
                    "y": 7.946446895599365,
                    "z": 0.01767686754465103
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2899751663208008,
        "expert_target_speed": 7.87698755750793,
        "target_point": [
            15.410533121435003,
            0.0578750000748649
        ],
        "target_point_next": [
            41.658051361126866,
            0.8712208330191169
        ]
    },
    "620": {
        "acceleration": [
            0.48488497734069824,
            -4.076166152954102,
            -0.0013683363795280457
        ],
        "angular_velocity": [
            0.06790752708911896,
            0.14655667543411255,
            0.20803837478160858
        ],
        "forward_vector": [
            -0.1279824674129486,
            0.9917494654655457,
            -0.007312470581382513
        ],
        "right_vector": [
            -0.9917757511138916,
            -0.12798753380775452,
            -0.00022587574494536966
        ],
        "location": [
            936.0780029296875,
            3529.9169921875,
            370.8227233886719
        ],
        "rotation": [
            0.012942072935402393,
            -0.41897743940353394,
            97.35321807861328
        ],
        "velocity": [
            -0.7193092107772827,
            5.546985149383545,
            0.014029798097908497
        ],
        "speed": 5.593429179688488,
        "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": 24.412885665893555,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                932.466796875,
                3554.061279296875,
                370.8621826171875
            ],
            "velocity": [
                -1.0679137706756592,
                6.642236709594727,
                0.005701999645680189
            ],
            "speed_kmh": 24.219140358305378,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.267704486846924,
                "transform": {
                    "location": {
                        "x": 937.3148803710938,
                        "y": 3565.697509765625,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": -0.0018615851877257228,
                        "pitch": 0.20515838265419006,
                        "yaw": -80.39364624023438
                    }
                },
                "velocity": {
                    "x": 1.0495843887329102,
                    "y": -6.179195880889893,
                    "z": -0.005670967046171427
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.284186363220215,
                "transform": {
                    "location": {
                        "x": 944.2657470703125,
                        "y": 3543.3642578125,
                        "z": 370.85394287109375
                    },
                    "rotation": {
                        "roll": -0.0014953642385080457,
                        "pitch": -0.16839148104190826,
                        "yaw": -80.83890533447266
                    }
                },
                "velocity": {
                    "x": 2.115147352218628,
                    "y": -13.11469841003418,
                    "z": -0.021395044401288033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041839599609375,
                "transform": {
                    "location": {
                        "x": 945.81982421875,
                        "y": 3513.2568359375,
                        "z": 370.778076171875
                    },
                    "rotation": {
                        "roll": -0.0003051851817872375,
                        "pitch": -0.15728558599948883,
                        "yaw": -80.86082458496094
                    }
                },
                "velocity": {
                    "x": 1.2773349285125732,
                    "y": -7.939717769622803,
                    "z": -0.021788038313388824
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05681037902832,
                "transform": {
                    "location": {
                        "x": 950.123046875,
                        "y": 3506.975341796875,
                        "z": 370.76202392578125
                    },
                    "rotation": {
                        "roll": 0.0005409080185927451,
                        "pitch": -0.17156751453876495,
                        "yaw": -80.8544692993164
                    }
                },
                "velocity": {
                    "x": 1.2806117534637451,
                    "y": -7.954352378845215,
                    "z": -0.022377733141183853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06547737121582,
                "transform": {
                    "location": {
                        "x": 952.6739501953125,
                        "y": 3470.6689453125,
                        "z": 370.6280822753906
                    },
                    "rotation": {
                        "roll": -9.155466977972537e-05,
                        "pitch": -0.23715098202228546,
                        "yaw": -80.85836029052734
                    }
                },
                "velocity": {
                    "x": 1.2814834117889404,
                    "y": -7.962952613830566,
                    "z": -0.03342827409505844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024270057678223,
                "transform": {
                    "location": {
                        "x": 956.7732543945312,
                        "y": 3465.65087890625,
                        "z": 370.59014892578125
                    },
                    "rotation": {
                        "roll": -0.000671392132062465,
                        "pitch": -0.2410305291414261,
                        "yaw": -80.85951232910156
                    }
                },
                "velocity": {
                    "x": 1.274697184562683,
                    "y": -7.922303676605225,
                    "z": -0.03415845334529877
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.9332885742188,
                        "y": 3447.972412109375,
                        "z": 370.5224914550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.545682907104492,
                "transform": {
                    "location": {
                        "x": 947.5419311523438,
                        "y": 3480.84521484375,
                        "z": 370.70355224609375
                    },
                    "rotation": {
                        "roll": 0.001986015122383833,
                        "pitch": 0.19091060757637024,
                        "yaw": 99.13604736328125
                    }
                },
                "velocity": {
                    "x": -1.51424241065979,
                    "y": 9.424738883972168,
                    "z": 0.03767848759889603
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.165148735046387,
                "transform": {
                    "location": {
                        "x": 944.1885986328125,
                        "y": 3501.673583984375,
                        "z": 370.7455139160156
                    },
                    "rotation": {
                        "roll": 0.0003043782489839941,
                        "pitch": 0.16781774163246155,
                        "yaw": 99.13481140136719
                    }
                },
                "velocity": {
                    "x": -1.2980074882507324,
                    "y": 8.061277389526367,
                    "z": 0.025370482355356216
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.7275390625,
                "transform": {
                    "location": {
                        "x": 932.466796875,
                        "y": 3554.061279296875,
                        "z": 370.8621826171875
                    },
                    "rotation": {
                        "roll": 0.00021111909882165492,
                        "pitch": 0.08588962256908417,
                        "yaw": 99.13975524902344
                    }
                },
                "velocity": {
                    "x": -1.0679137706756592,
                    "y": 6.642236709594727,
                    "z": 0.005701999645680189
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.895319938659668,
                "transform": {
                    "location": {
                        "x": 930.0025634765625,
                        "y": 3568.543701171875,
                        "z": 370.88568115234375
                    },
                    "rotation": {
                        "roll": 0.08773781359195709,
                        "pitch": 0.01150886807590723,
                        "yaw": 102.08102416992188
                    }
                },
                "velocity": {
                    "x": -1.385317325592041,
                    "y": 4.695212364196777,
                    "z": 0.005666818469762802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.556692600250244,
                "transform": {
                    "location": {
                        "x": 950.6311645507812,
                        "y": 3461.876708984375,
                        "z": 370.58782958984375
                    },
                    "rotation": {
                        "roll": 0.0055924635380506516,
                        "pitch": 0.10680366307497025,
                        "yaw": 99.48258972167969
                    }
                },
                "velocity": {
                    "x": -0.912876546382904,
                    "y": 5.481139183044434,
                    "z": 0.02454536408185959
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.978341579437256,
                "transform": {
                    "location": {
                        "x": 940.971435546875,
                        "y": 3521.6669921875,
                        "z": 370.79779052734375
                    },
                    "rotation": {
                        "roll": 0.0017012625467032194,
                        "pitch": 0.21491189301013947,
                        "yaw": 99.12730407714844
                    }
                },
                "velocity": {
                    "x": -1.2660702466964722,
                    "y": 7.877215385437012,
                    "z": 0.021768951788544655
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048515319824219,
                "transform": {
                    "location": {
                        "x": 938.0614013671875,
                        "y": 3539.746826171875,
                        "z": 370.8439025878906
                    },
                    "rotation": {
                        "roll": 0.00015486020129173994,
                        "pitch": 0.11915947496891022,
                        "yaw": 99.16116333007812
                    }
                },
                "velocity": {
                    "x": -1.2788983583450317,
                    "y": 7.946238994598389,
                    "z": 0.017221136018633842
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2927910387516022,
        "expert_target_speed": 6.538421752218625,
        "target_point": [
            13.843595624754883,
            0.06110792078200644
        ],
        "target_point_next": [
            40.09090903841922,
            0.8810370346697534
        ]
    },
    "625": {
        "acceleration": [
            -0.05637049674987793,
            -0.03966331481933594,
            -0.020115487277507782
        ],
        "angular_velocity": [
            1.15243661403656,
            0.208313450217247,
            0.3689621686935425
        ],
        "forward_vector": [
            -0.12934648990631104,
            0.9915932416915894,
            -0.0035222694277763367
        ],
        "right_vector": [
            -0.991599440574646,
            -0.12934695184230804,
            0.0001001342898234725
        ],
        "location": [
            935.9039916992188,
            3531.2490234375,
            370.824951171875
        ],
        "rotation": [
            -0.005737307481467724,
            -0.20181158185005188,
            97.43187713623047
        ],
        "velocity": [
            -0.6865926384925842,
            5.207259178161621,
            0.012860726565122604
        ],
        "speed": 5.252328778720983,
        "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": 24.616924285888672,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                932.2211303710938,
                3555.5888671875,
                370.8642578125
            ],
            "velocity": [
                -0.7336410284042358,
                4.562758922576904,
                0.0008253669366240501
            ],
            "speed_kmh": 16.63690790911746,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.633603572845459,
                "transform": {
                    "location": {
                        "x": 937.6143798828125,
                        "y": 3563.935546875,
                        "z": 370.87847900390625
                    },
                    "rotation": {
                        "roll": -0.0022582970559597015,
                        "pitch": 0.2744165062904358,
                        "yaw": -80.38093566894531
                    }
                },
                "velocity": {
                    "x": 1.2792418003082275,
                    "y": -7.525646686553955,
                    "z": -0.009327821433544159
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.325862884521484,
                "transform": {
                    "location": {
                        "x": 944.7972412109375,
                        "y": 3540.066162109375,
                        "z": 370.8472900390625
                    },
                    "rotation": {
                        "roll": -0.000671394809614867,
                        "pitch": -0.13760781288146973,
                        "yaw": -80.84746551513672
                    }
                },
                "velocity": {
                    "x": 2.117588996887207,
                    "y": -13.156511306762695,
                    "z": -0.025513004511594772
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042427062988281,
                "transform": {
                    "location": {
                        "x": 946.1392822265625,
                        "y": 3511.271728515625,
                        "z": 370.7724609375
                    },
                    "rotation": {
                        "roll": -0.0017395040486007929,
                        "pitch": -0.16171154379844666,
                        "yaw": -80.8589859008789
                    }
                },
                "velocity": {
                    "x": 1.2784430980682373,
                    "y": -7.940134525299072,
                    "z": -0.021862439811229706
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.084424018859863,
                "transform": {
                    "location": {
                        "x": 950.4435424804688,
                        "y": 3504.983642578125,
                        "z": 370.75616455078125
                    },
                    "rotation": {
                        "roll": 0.0008836329798214138,
                        "pitch": -0.17208661139011383,
                        "yaw": -80.85704803466797
                    }
                },
                "velocity": {
                    "x": 1.2845944166183472,
                    "y": -7.9816765785217285,
                    "z": -0.02394958958029747
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004246711730957,
                "transform": {
                    "location": {
                        "x": 952.9931030273438,
                        "y": 3468.686279296875,
                        "z": 370.6197509765625
                    },
                    "rotation": {
                        "roll": 0.0003152319404762238,
                        "pitch": -0.23718513548374176,
                        "yaw": -80.85810089111328
                    }
                },
                "velocity": {
                    "x": 1.2717413902282715,
                    "y": -7.902501106262207,
                    "z": -0.03342767804861069
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.0842895507812,
                        "y": 3463.64794921875,
                        "z": 370.5826416015625
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.5360717773438,
                        "y": 3450.440185546875,
                        "z": 370.5353088378906
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.77589225769043,
                "transform": {
                    "location": {
                        "x": 947.1798706054688,
                        "y": 3483.0966796875,
                        "z": 370.7127990722656
                    },
                    "rotation": {
                        "roll": -0.00018310185987502337,
                        "pitch": 0.1652427613735199,
                        "yaw": 99.14239501953125
                    }
                },
                "velocity": {
                    "x": -1.3922719955444336,
                    "y": 8.664673805236816,
                    "z": 0.03604314848780632
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.861967086791992,
                "transform": {
                    "location": {
                        "x": 943.8448486328125,
                        "y": 3503.810546875,
                        "z": 370.75225830078125
                    },
                    "rotation": {
                        "roll": 0.0008132154471240938,
                        "pitch": 0.2760147452354431,
                        "yaw": 99.14239501953125
                    }
                },
                "velocity": {
                    "x": -1.4070109128952026,
                    "y": 8.749519348144531,
                    "z": 0.026047123596072197
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.621363162994385,
                "transform": {
                    "location": {
                        "x": 932.2211303710938,
                        "y": 3555.5888671875,
                        "z": 370.8642578125
                    },
                    "rotation": {
                        "roll": 0.0001696558465482667,
                        "pitch": 0.03181501850485802,
                        "yaw": 99.13409423828125
                    }
                },
                "velocity": {
                    "x": -0.7336410284042358,
                    "y": 4.562758922576904,
                    "z": 0.0008253669366240501
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.453120231628418,
                "transform": {
                    "location": {
                        "x": 929.6454467773438,
                        "y": 3569.7939453125,
                        "z": 370.88720703125
                    },
                    "rotation": {
                        "roll": 0.062487468123435974,
                        "pitch": 0.0038590566255152225,
                        "yaw": 104.50084686279297
                    }
                },
                "velocity": {
                    "x": -1.7510817050933838,
                    "y": 5.164320468902588,
                    "z": 0.005346221849322319
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5510711669921875,
                "transform": {
                    "location": {
                        "x": 950.407470703125,
                        "y": 3463.22119140625,
                        "z": 370.5939636230469
                    },
                    "rotation": {
                        "roll": 0.0034242102410644293,
                        "pitch": 0.21726830303668976,
                        "yaw": 99.44920349121094
                    }
                },
                "velocity": {
                    "x": -0.9098522663116455,
                    "y": 5.475945472717285,
                    "z": 0.02411242388188839
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.021590232849121,
                "transform": {
                    "location": {
                        "x": 940.6387939453125,
                        "y": 3523.735595703125,
                        "z": 370.8023986816406
                    },
                    "rotation": {
                        "roll": 0.002601261017844081,
                        "pitch": 0.44788962602615356,
                        "yaw": 99.10314178466797
                    }
                },
                "velocity": {
                    "x": -1.4297937154769897,
                    "y": 8.907540321350098,
                    "z": 0.02228228561580181
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047564506530762,
                "transform": {
                    "location": {
                        "x": 937.74169921875,
                        "y": 3541.733154296875,
                        "z": 370.84765625
                    },
                    "rotation": {
                        "roll": 4.7117700887611136e-05,
                        "pitch": 0.10049256682395935,
                        "yaw": 99.12935638427734
                    }
                },
                "velocity": {
                    "x": -1.279195785522461,
                    "y": 7.9452338218688965,
                    "z": 0.014324874617159367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.25557824969291687,
        "expert_target_speed": 6.222185255776562,
        "target_point": [
            12.500317241601861,
            0.04185506177918641
        ],
        "target_point_next": [
            38.748731158346104,
            0.8257632465763818
        ]
    },
    "630": {
        "acceleration": [
            -1.8788480758666992,
            13.651981353759766,
            0.01762276515364647
        ],
        "angular_velocity": [
            3.5932505130767822,
            0.5321370959281921,
            0.49772214889526367
        ],
        "forward_vector": [
            -0.1311970353126526,
            0.9913536310195923,
            0.00227951817214489
        ],
        "right_vector": [
            -0.9913561344146729,
            -0.131197988986969,
            0.0002759028284344822
        ],
        "location": [
            935.7274169921875,
            3532.57861328125,
            370.8267822265625
        ],
        "rotation": [
            -0.0158081091940403,
            0.13060687482357025,
            97.53878784179688
        ],
        "velocity": [
            -0.7951614260673523,
            5.928106784820557,
            0.013887376524508
        ],
        "speed": 5.9811981864623895,
        "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": 23.637155532836914,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                932.1637573242188,
                3555.945556640625,
                370.8650817871094
            ],
            "velocity": [
                5.2855470130452886e-05,
                -8.3508639363572e-05,
                0.0020549797918647528
            ],
            "speed_kmh": 0.007406477774726976,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.4691162109375,
                        "y": 3628.468017578125,
                        "z": 370.89385986328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.2604370117188,
                        "y": 3627.951416015625,
                        "z": 370.8939514160156
                    },
                    "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": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 985.8242797851562,
                        "y": 3586.47119140625,
                        "z": 370.3442077636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.746519148349762,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 946.4764404296875,
                        "y": 3467.6396484375,
                        "z": 370.89874267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9197387695312,
                        "y": 3435.6298828125,
                        "z": 370.80120849609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.4776611328125,
                        "y": 3618.57421875,
                        "z": 371.0699462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.028076171875,
                        "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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 922.2689819335938,
                        "y": 3618.05810546875,
                        "z": 371.0699462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.8194580078125,
                        "y": 3633.278076171875,
                        "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.378155708312988,
                "transform": {
                    "location": {
                        "x": 937.9662475585938,
                        "y": 3561.8515625,
                        "z": 370.8760070800781
                    },
                    "rotation": {
                        "roll": 0.01833287812769413,
                        "pitch": 0.30826690793037415,
                        "yaw": -80.45598602294922
                    }
                },
                "velocity": {
                    "x": 1.5425786972045898,
                    "y": -9.25041389465332,
                    "z": -0.009724635630846024
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.224842071533203,
                "transform": {
                    "location": {
                        "x": 945.323974609375,
                        "y": 3536.7939453125,
                        "z": 370.84027099609375
                    },
                    "rotation": {
                        "roll": -0.0007324190810322762,
                        "pitch": -0.1122746467590332,
                        "yaw": -80.85789489746094
                    }
                },
                "velocity": {
                    "x": 2.101332426071167,
                    "y": -13.056803703308105,
                    "z": -0.026705482974648476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041471481323242,
                "transform": {
                    "location": {
                        "x": 946.458740234375,
                        "y": 3509.286865234375,
                        "z": 370.76678466796875
                    },
                    "rotation": {
                        "roll": -6.103840132709593e-05,
                        "pitch": -0.16815242171287537,
                        "yaw": -80.85707092285156
                    }
                },
                "velocity": {
                    "x": 1.277775764465332,
                    "y": -7.939270496368408,
                    "z": -0.02315741404891014
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.065533638000488,
                "transform": {
                    "location": {
                        "x": 950.7642822265625,
                        "y": 3502.990478515625,
                        "z": 370.7498474121094
                    },
                    "rotation": {
                        "roll": 9.78109092102386e-05,
                        "pitch": -0.1781313270330429,
                        "yaw": -80.8606185913086
                    }
                },
                "velocity": {
                    "x": 1.2810908555984497,
                    "y": -7.963101863861084,
                    "z": -0.025299072265625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064764022827148,
                "transform": {
                    "location": {
                        "x": 953.312255859375,
                        "y": 3466.70263671875,
                        "z": 370.6114501953125
                    },
                    "rotation": {
                        "roll": -0.00039672802085988224,
                        "pitch": -0.23794329166412354,
                        "yaw": -80.85790252685547
                    }
                },
                "velocity": {
                    "x": 1.2812697887420654,
                    "y": -7.962261199951172,
                    "z": -0.03420659527182579
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3597412109375,
                        "y": 3461.58251953125,
                        "z": 370.5799865722656
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.33740234375,
                        "y": 3451.674072265625,
                        "z": 370.5414733886719
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.318169593811035,
                "transform": {
                    "location": {
                        "x": 946.8458862304688,
                        "y": 3485.17236328125,
                        "z": 370.7210388183594
                    },
                    "rotation": {
                        "roll": -0.0008850138983689249,
                        "pitch": 0.1770726442337036,
                        "yaw": 99.1415786743164
                    }
                },
                "velocity": {
                    "x": -1.3227976560592651,
                    "y": 8.21225357055664,
                    "z": 0.03232450410723686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.666324615478516,
                "transform": {
                    "location": {
                        "x": 943.46630859375,
                        "y": 3506.165771484375,
                        "z": 370.7591247558594
                    },
                    "rotation": {
                        "roll": 0.0018083183094859123,
                        "pitch": 0.30570557713508606,
                        "yaw": 99.10496520996094
                    }
                },
                "velocity": {
                    "x": -1.5322654247283936,
                    "y": 9.544062614440918,
                    "z": 0.029194030910730362
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0020573551300913095,
                "transform": {
                    "location": {
                        "x": 932.1637573242188,
                        "y": 3555.945556640625,
                        "z": 370.8650817871094
                    },
                    "rotation": {
                        "roll": 2.5398103389306925e-05,
                        "pitch": -0.03820807486772537,
                        "yaw": 99.13280487060547
                    }
                },
                "velocity": {
                    "x": 5.2855470130452886e-05,
                    "y": -8.3508639363572e-05,
                    "z": 0.0020549797918647528
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.6815900802612305,
                "transform": {
                    "location": {
                        "x": 929.1630249023438,
                        "y": 3571.119873046875,
                        "z": 370.8899230957031
                    },
                    "rotation": {
                        "roll": 0.3223778009414673,
                        "pitch": 0.08237890899181366,
                        "yaw": 108.49662017822266
                    }
                },
                "velocity": {
                    "x": -2.4266839027404785,
                    "y": 5.137228488922119,
                    "z": 0.02353532798588276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.986603260040283,
                "transform": {
                    "location": {
                        "x": 950.1633911132812,
                        "y": 3464.6923828125,
                        "z": 370.6007385253906
                    },
                    "rotation": {
                        "roll": 0.0060725766234099865,
                        "pitch": 0.4223583936691284,
                        "yaw": 99.42198944091797
                    }
                },
                "velocity": {
                    "x": -1.13565194606781,
                    "y": 6.893622398376465,
                    "z": 0.029802683740854263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.98310661315918,
                "transform": {
                    "location": {
                        "x": 940.2720336914062,
                        "y": 3526.0185546875,
                        "z": 370.8087158203125
                    },
                    "rotation": {
                        "roll": 0.0012155937729403377,
                        "pitch": 0.3304513692855835,
                        "yaw": 99.10688018798828
                    }
                },
                "velocity": {
                    "x": -1.4240413904190063,
                    "y": 8.869489669799805,
                    "z": 0.021602850407361984
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8494873046875,
                "transform": {
                    "location": {
                        "x": 937.4247436523438,
                        "y": 3543.7021484375,
                        "z": 370.8509826660156
                    },
                    "rotation": {
                        "roll": 0.00022959854686632752,
                        "pitch": 0.06686072051525116,
                        "yaw": 99.1592025756836
                    }
                },
                "velocity": {
                    "x": -1.2470815181732178,
                    "y": 7.7497782707214355,
                    "z": 0.013057135976850986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.21777142584323883,
        "expert_target_speed": 6.809040668153073,
        "target_point": [
            11.159110215205246,
            0.017921269966037157
        ],
        "target_point_next": [
            37.40894110577822,
            0.7528521532778676
        ]
    },
    "635": {
        "acceleration": [
            -0.8673465251922607,
            4.621315002441406,
            -0.00048197805881500244
        ],
        "angular_velocity": [
            0.49799999594688416,
            0.22216077148914337,
            1.4123592376708984
        ],
        "forward_vector": [
            -0.13511785864830017,
            0.9907870888710022,
            0.009166350588202477
        ],
        "right_vector": [
            -0.9908275008201599,
            -0.1351306140422821,
            0.0007840018370188773
        ],
        "location": [
            935.5005493164062,
            3534.239990234375,
            370.8288879394531
        ],
        "rotation": [
            -0.044921886175870895,
            0.5252005457878113,
            97.76576232910156
        ],
        "velocity": [
            -1.0042651891708374,
            7.164908409118652,
            0.014006147161126137
        ],
        "speed": 7.234947206527461,
        "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": 22.01948356628418,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                932.154052734375,
                3556.003662109375,
                370.86444091796875
            ],
            "velocity": [
                -0.08946707844734192,
                0.5635513067245483,
                0.001850557280704379
            ],
            "speed_kmh": 2.0542025799974817,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.800048828125,
                        "y": 3626.41064453125,
                        "z": 370.8883056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.5913696289062,
                        "y": 3625.894287109375,
                        "z": 370.8883972167969
                    },
                    "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": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.7681884765625,
                        "y": 3586.13623046875,
                        "z": 370.36444091796875
                    },
                    "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": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5439028739929199,
                "transform": {
                    "location": {
                        "x": 946.476318359375,
                        "y": 3467.640625,
                        "z": 370.5304870605469
                    },
                    "rotation": {
                        "roll": -0.0003967281081713736,
                        "pitch": 0.24141985177993774,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -0.0004257059481460601,
                    "y": 0.0021895032841712236,
                    "z": -0.5438982844352722
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.6055297851562,
                        "y": 3437.581787109375,
                        "z": 370.6412353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.2791137695312,
                        "y": 3619.80615234375,
                        "z": 371.0162658691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "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": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.181346893310547,
                "transform": {
                    "location": {
                        "x": 938.370361328125,
                        "y": 3559.419921875,
                        "z": 370.87451171875
                    },
                    "rotation": {
                        "roll": 0.012837161310017109,
                        "pitch": 0.1773117035627365,
                        "yaw": -80.54886627197266
                    }
                },
                "velocity": {
                    "x": 1.660940170288086,
                    "y": -10.044949531555176,
                    "z": -0.010120468214154243
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.246661186218262,
                "transform": {
                    "location": {
                        "x": 945.849609375,
                        "y": 3533.52783203125,
                        "z": 370.8333435058594
                    },
                    "rotation": {
                        "roll": -0.00024413979554083198,
                        "pitch": -0.12374936044216156,
                        "yaw": -80.85814666748047
                    }
                },
                "velocity": {
                    "x": 2.104616403579712,
                    "y": -13.078367233276367,
                    "z": -0.030442824587225914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040545463562012,
                "transform": {
                    "location": {
                        "x": 946.7782592773438,
                        "y": 3507.3017578125,
                        "z": 370.76092529296875
                    },
                    "rotation": {
                        "roll": -0.00012207680265419185,
                        "pitch": -0.16741475462913513,
                        "yaw": -80.85358428955078
                    }
                },
                "velocity": {
                    "x": 1.278165578842163,
                    "y": -7.938270092010498,
                    "z": -0.02306513674557209
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0924072265625,
                "transform": {
                    "location": {
                        "x": 951.0851440429688,
                        "y": 3500.99609375,
                        "z": 370.7433776855469
                    },
                    "rotation": {
                        "roll": -3.0515904654748738e-05,
                        "pitch": -0.19094476103782654,
                        "yaw": -80.85877990722656
                    }
                },
                "velocity": {
                    "x": 1.2856827974319458,
                    "y": -7.989582538604736,
                    "z": -0.025533948093652725
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.5776977539062,
                        "y": 3464.684814453125,
                        "z": 370.6009216308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4840,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.666748046875,
                        "y": 3459.521484375,
                        "z": 370.5734558105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2749629020690918,
                        "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.1388549804688,
                        "y": 3452.90771484375,
                        "z": 370.5477600097656
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.876461982727051,
                "transform": {
                    "location": {
                        "x": 946.524169921875,
                        "y": 3487.170166015625,
                        "z": 370.7287292480469
                    },
                    "rotation": {
                        "roll": 0.00020486651919782162,
                        "pitch": 0.1677630990743637,
                        "yaw": 99.1430435180664
                    }
                },
                "velocity": {
                    "x": -1.2519298791885376,
                    "y": 7.776278972625732,
                    "z": 0.028375357389450073
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.31301212310791,
                "transform": {
                    "location": {
                        "x": 943.1067504882812,
                        "y": 3508.403564453125,
                        "z": 370.76568603515625
                    },
                    "rotation": {
                        "roll": 0.00013250895426608622,
                        "pitch": -0.005710037890821695,
                        "yaw": 99.14483642578125
                    }
                },
                "velocity": {
                    "x": -1.3189154863357544,
                    "y": 8.207681655883789,
                    "z": 0.024497127160429955
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.570611834526062,
                "transform": {
                    "location": {
                        "x": 932.154052734375,
                        "y": 3556.003662109375,
                        "z": 370.86444091796875
                    },
                    "rotation": {
                        "roll": 0.00010158577060792595,
                        "pitch": 0.05929286777973175,
                        "yaw": 99.08928680419922
                    }
                },
                "velocity": {
                    "x": -0.08946707844734192,
                    "y": 0.5635513067245483,
                    "z": 0.001850557280704379
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.436462879180908,
                "transform": {
                    "location": {
                        "x": 928.34912109375,
                        "y": 3572.576904296875,
                        "z": 370.89752197265625
                    },
                    "rotation": {
                        "roll": 0.7358572483062744,
                        "pitch": 0.17729121446609497,
                        "yaw": 117.21839904785156
                    }
                },
                "velocity": {
                    "x": -4.527153968811035,
                    "y": 5.899557590484619,
                    "z": 0.032782867550849915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.256372451782227,
                "transform": {
                    "location": {
                        "x": 949.8457641601562,
                        "y": 3466.62841796875,
                        "z": 370.6090087890625
                    },
                    "rotation": {
                        "roll": 0.006060704123228788,
                        "pitch": 0.44004857540130615,
                        "yaw": 99.30817413330078
                    }
                },
                "velocity": {
                    "x": -1.333937168121338,
                    "y": 8.147831916809082,
                    "z": 0.033741358667612076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.6032209396362305,
                "transform": {
                    "location": {
                        "x": 939.9396362304688,
                        "y": 3528.086181640625,
                        "z": 370.8155822753906
                    },
                    "rotation": {
                        "roll": -0.0019531201105564833,
                        "pitch": -0.14364570379257202,
                        "yaw": 99.15271759033203
                    }
                },
                "velocity": {
                    "x": -1.2090543508529663,
                    "y": 7.506446838378906,
                    "z": 0.020296867936849594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.483450412750244,
                "transform": {
                    "location": {
                        "x": 937.1211547851562,
                        "y": 3545.58984375,
                        "z": 370.8539123535156
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": 0.04193735867738724,
                        "yaw": 99.12312316894531
                    }
                },
                "velocity": {
                    "x": -1.1889078617095947,
                    "y": 7.388393402099609,
                    "z": 0.013190249912440777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.16754131019115448,
        "expert_target_speed": 7.7486085631716906,
        "target_point": [
            9.48229842470902,
            -0.026579822742507364
        ],
        "target_point_next": [
            35.73483465039417,
            0.6043614629676801
        ]
    },
    "640": {
        "acceleration": [
            -0.609278678894043,
            3.574810028076172,
            0.013271141797304153
        ],
        "angular_velocity": [
            -0.016261518001556396,
            -0.048934198915958405,
            1.1015279293060303
        ],
        "forward_vector": [
            -0.14109466969966888,
            0.9899455308914185,
            0.010005664080381393
        ],
        "right_vector": [
            -0.9899933338165283,
            -0.14111103117465973,
            0.000946439744438976
        ],
        "location": [
            935.2263793945312,
            3536.1650390625,
            370.8326110839844
        ],
        "rotation": [
            -0.054229725152254105,
            0.5732918977737427,
            98.11160278320312
        ],
        "velocity": [
            -1.1819238662719727,
            8.16389274597168,
            0.01588408462703228
        ],
        "speed": 8.249005321454963,
        "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": 20.31276512145996,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                932.1163330078125,
                3556.23828125,
                370.86456298828125
            ],
            "velocity": [
                -0.2163834124803543,
                1.3321491479873657,
                0.0014474868075922132
            ],
            "speed_kmh": 4.858593434989207,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.1311645507812,
                        "y": 3624.353271484375,
                        "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": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.9224853515625,
                        "y": 3623.8369140625,
                        "z": 370.8828125
                    },
                    "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": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.8933539390563965,
                "transform": {
                    "location": {
                        "x": 981.9032592773438,
                        "y": 3585.83056640625,
                        "z": 370.37921142578125
                    },
                    "rotation": {
                        "roll": -0.0031738285906612873,
                        "pitch": 0.6725960373878479,
                        "yaw": -170.67994689941406
                    }
                },
                "velocity": {
                    "x": -6.7962565422058105,
                    "y": -1.1520990133285522,
                    "z": 0.04349174350500107
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4057013690471649,
                "transform": {
                    "location": {
                        "x": 946.476318359375,
                        "y": 3467.640625,
                        "z": 370.5609436035156
                    },
                    "rotation": {
                        "roll": 4.9052396207116544e-05,
                        "pitch": 0.24131740629673004,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 0.00021336640929803252,
                    "y": -0.0016746618784964085,
                    "z": 0.40569785237312317
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.3468627929688,
                        "y": 3439.18896484375,
                        "z": 370.509521484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.1468505859375,
                        "y": 3620.627685546875,
                        "z": 370.98052978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "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": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.273880958557129,
                "transform": {
                    "location": {
                        "x": 938.8087768554688,
                        "y": 3556.7607421875,
                        "z": 370.8719787597656
                    },
                    "rotation": {
                        "roll": 0.01254415325820446,
                        "pitch": 0.13973882794380188,
                        "yaw": -80.66783905029297
                    }
                },
                "velocity": {
                    "x": 1.8193079233169556,
                    "y": -11.12611198425293,
                    "z": -0.011559867300093174
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.262205123901367,
                "transform": {
                    "location": {
                        "x": 946.3762817382812,
                        "y": 3530.255615234375,
                        "z": 370.8254699707031
                    },
                    "rotation": {
                        "roll": 0.0004368534137029201,
                        "pitch": -0.14937622845172882,
                        "yaw": -80.85350036621094
                    }
                },
                "velocity": {
                    "x": 2.1082208156585693,
                    "y": -13.093523979187012,
                    "z": -0.03363388031721115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043797492980957,
                "transform": {
                    "location": {
                        "x": 947.0978393554688,
                        "y": 3505.317138671875,
                        "z": 370.75506591796875
                    },
                    "rotation": {
                        "roll": 0.0003352943458594382,
                        "pitch": -0.16747622191905975,
                        "yaw": -80.85337829589844
                    }
                },
                "velocity": {
                    "x": 1.2786833047866821,
                    "y": -7.9414801597595215,
                    "z": -0.02310255914926529
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0589017868042,
                "transform": {
                    "location": {
                        "x": 951.4058227539062,
                        "y": 3499.00341796875,
                        "z": 370.7367858886719
                    },
                    "rotation": {
                        "roll": 0.00029354632715694606,
                        "pitch": -0.19122479856014252,
                        "yaw": -80.8584213256836
                    }
                },
                "velocity": {
                    "x": 1.2803434133529663,
                    "y": -7.95650577545166,
                    "z": -0.0251910537481308
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.8911743164062,
                        "y": 3462.625244140625,
                        "z": 370.59130859375
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.0065307617188,
                        "y": 3453.73046875,
                        "z": 370.55194091796875
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033288955688477,
                "transform": {
                    "location": {
                        "x": 946.21044921875,
                        "y": 3489.11962890625,
                        "z": 370.7356262207031
                    },
                    "rotation": {
                        "roll": -0.0004882816574536264,
                        "pitch": 0.20747381448745728,
                        "yaw": 99.14924621582031
                    }
                },
                "velocity": {
                    "x": -1.2769160270690918,
                    "y": 7.931099891662598,
                    "z": 0.029662685468792915
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.378472805023193,
                "transform": {
                    "location": {
                        "x": 942.8021850585938,
                        "y": 3510.29736328125,
                        "z": 370.7712097167969
                    },
                    "rotation": {
                        "roll": -0.0013427759986370802,
                        "pitch": -0.032436568289995193,
                        "yaw": 99.1269302368164
                    }
                },
                "velocity": {
                    "x": -1.1721851825714111,
                    "y": 7.284737586975098,
                    "z": 0.020929966121912003
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.349609375,
                "transform": {
                    "location": {
                        "x": 932.1163330078125,
                        "y": 3556.23828125,
                        "z": 370.86456298828125
                    },
                    "rotation": {
                        "roll": 0.0003697243519127369,
                        "pitch": 0.08183249086141586,
                        "yaw": 99.08709716796875
                    }
                },
                "velocity": {
                    "x": -0.2163834124803543,
                    "y": 1.3321491479873657,
                    "z": 0.0014474868075922132
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.171292304992676,
                "transform": {
                    "location": {
                        "x": 927.076904296875,
                        "y": 3574.06201171875,
                        "z": 370.9210205078125
                    },
                    "rotation": {
                        "roll": 0.654578447341919,
                        "pitch": 0.8774948716163635,
                        "yaw": 129.38092041015625
                    }
                },
                "velocity": {
                    "x": -6.1763811111450195,
                    "y": 5.347153663635254,
                    "z": 0.17404654622077942
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.027254104614258,
                "transform": {
                    "location": {
                        "x": 949.5157470703125,
                        "y": 3468.647216796875,
                        "z": 370.6172180175781
                    },
                    "rotation": {
                        "roll": 0.0021533863618969917,
                        "pitch": 0.26253196597099304,
                        "yaw": 99.29371643066406
                    }
                },
                "velocity": {
                    "x": -1.2933886051177979,
                    "y": 7.922299861907959,
                    "z": 0.03349040076136589
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.581542015075684,
                "transform": {
                    "location": {
                        "x": 939.6649169921875,
                        "y": 3529.792724609375,
                        "z": 370.82049560546875
                    },
                    "rotation": {
                        "roll": -0.0015869210474193096,
                        "pitch": -0.30676427483558655,
                        "yaw": 99.1406021118164
                    }
                },
                "velocity": {
                    "x": -1.0459469556808472,
                    "y": 6.497875213623047,
                    "z": 0.017418470233678818
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.2778449058532715,
                "transform": {
                    "location": {
                        "x": 936.8284912109375,
                        "y": 3547.408935546875,
                        "z": 370.8569030761719
                    },
                    "rotation": {
                        "roll": 0.0010357312858104706,
                        "pitch": 0.05504449084401131,
                        "yaw": 99.15592193603516
                    }
                },
                "velocity": {
                    "x": -1.15518057346344,
                    "y": 7.185572147369385,
                    "z": 0.011943330056965351
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13175368309020996,
        "expert_target_speed": 8.439379121706756,
        "target_point": [
            7.537490470054462,
            -0.08361589432370187
        ],
        "target_point_next": [
            33.793356935495325,
            0.3888471580549604
        ]
    },
    "645": {
        "acceleration": [
            -0.6694269180297852,
            3.852100372314453,
            0.0035056844353675842
        ],
        "angular_velocity": [
            -0.07230103015899658,
            -0.01620824821293354,
            0.9311580657958984
        ],
        "forward_vector": [
            -0.14560803771018982,
            0.9892942309379578,
            0.00975712575018406
        ],
        "right_vector": [
            -0.9893395900726318,
            -0.14562401175498962,
            0.0009432467049919069
        ],
        "location": [
            934.9093627929688,
            3538.328125,
            370.8371276855469
        ],
        "rotation": [
            -0.0540466383099556,
            0.559050977230072,
            98.37289428710938
        ],
        "velocity": [
            -1.3528820276260376,
            9.095720291137695,
            0.01791035570204258
        ],
        "speed": 9.195782587430367,
        "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": 18.560367584228516,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                932.0474853515625,
                3556.66650390625,
                370.8650817871094
            ],
            "velocity": [
                -0.33311885595321655,
                2.071227550506592,
                0.002545146970078349
            ],
            "speed_kmh": 7.552245922810718,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.4622192382812,
                        "y": 3622.296142578125,
                        "z": 370.8828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.2536010742188,
                        "y": 3621.779541015625,
                        "z": 370.8828125
                    },
                    "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": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.62992000579834,
                "transform": {
                    "location": {
                        "x": 980.238037109375,
                        "y": 3585.546875,
                        "z": 370.3944091796875
                    },
                    "rotation": {
                        "roll": 0.003837807336822152,
                        "pitch": 0.6982638835906982,
                        "yaw": -170.2945098876953
                    }
                },
                "velocity": {
                    "x": -6.532961845397949,
                    "y": -1.1273884773254395,
                    "z": 0.07239927351474762
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2764892578125,
                        "y": 3468.882080078125,
                        "z": 370.61761474609375
                    },
                    "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": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.0916748046875,
                        "y": 3440.7744140625,
                        "z": 370.4827575683594
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.9485473632812,
                        "y": 3621.8603515625,
                        "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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "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": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.180514335632324,
                "transform": {
                    "location": {
                        "x": 939.2818603515625,
                        "y": 3553.86181640625,
                        "z": 370.8685607910156
                    },
                    "rotation": {
                        "roll": 0.010617557913064957,
                        "pitch": 0.1472315490245819,
                        "yaw": -80.77568817138672
                    }
                },
                "velocity": {
                    "x": 1.9516433477401733,
                    "y": -12.023137092590332,
                    "z": -0.013774623163044453
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.762582778930664,
                "transform": {
                    "location": {
                        "x": 946.8989868164062,
                        "y": 3527.00927734375,
                        "z": 370.8168640136719
                    },
                    "rotation": {
                        "roll": 0.0005611036904156208,
                        "pitch": -0.10803309828042984,
                        "yaw": -80.85263061523438
                    }
                },
                "velocity": {
                    "x": 2.0289268493652344,
                    "y": -12.600234985351562,
                    "z": -0.03258960694074631
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040767669677734,
                "transform": {
                    "location": {
                        "x": 947.4172973632812,
                        "y": 3503.33251953125,
                        "z": 370.7490234375
                    },
                    "rotation": {
                        "roll": 0.000985893071629107,
                        "pitch": -0.17565879225730896,
                        "yaw": -80.8586196899414
                    }
                },
                "velocity": {
                    "x": 1.2764424085617065,
                    "y": -7.9387640953063965,
                    "z": -0.02561662532389164
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092741966247559,
                "transform": {
                    "location": {
                        "x": 951.7266235351562,
                        "y": 3497.010009765625,
                        "z": 370.7301025390625
                    },
                    "rotation": {
                        "roll": 0.00013479022891260684,
                        "pitch": -0.18694910407066345,
                        "yaw": -80.85844421386719
                    }
                },
                "velocity": {
                    "x": 1.285725474357605,
                    "y": -7.989912986755371,
                    "z": -0.025949958711862564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.2046508789062,
                        "y": 3460.56591796875,
                        "z": 370.5818176269531
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.6879272460938,
                        "y": 3455.709228515625,
                        "z": 370.5614318847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.096394538879395,
                "transform": {
                    "location": {
                        "x": 945.8876342773438,
                        "y": 3491.123779296875,
                        "z": 370.7428283691406
                    },
                    "rotation": {
                        "roll": -0.0006408749613910913,
                        "pitch": 0.21523290872573853,
                        "yaw": 99.14436340332031
                    }
                },
                "velocity": {
                    "x": -1.2869105339050293,
                    "y": 7.993408203125,
                    "z": 0.02973761409521103
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.000224113464355,
                "transform": {
                    "location": {
                        "x": 942.4996948242188,
                        "y": 3512.178466796875,
                        "z": 370.77667236328125
                    },
                    "rotation": {
                        "roll": -0.0003051726962439716,
                        "pitch": 0.20724841952323914,
                        "yaw": 99.15009307861328
                    }
                },
                "velocity": {
                    "x": -1.270519733428955,
                    "y": 7.898664474487305,
                    "z": 0.021739443764090538
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.097846269607544,
                "transform": {
                    "location": {
                        "x": 932.0474853515625,
                        "y": 3556.66650390625,
                        "z": 370.8650817871094
                    },
                    "rotation": {
                        "roll": 0.00019963648810517043,
                        "pitch": 0.08388154953718185,
                        "yaw": 99.1146240234375
                    }
                },
                "velocity": {
                    "x": -0.33311885595321655,
                    "y": 2.071227550506592,
                    "z": 0.002545146970078349
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.886913299560547,
                "transform": {
                    "location": {
                        "x": 925.452880859375,
                        "y": 3575.21142578125,
                        "z": 370.9463195800781
                    },
                    "rotation": {
                        "roll": 0.4297303557395935,
                        "pitch": 1.317003846168518,
                        "yaw": 144.58255004882812
                    }
                },
                "velocity": {
                    "x": -7.25262451171875,
                    "y": 3.0964794158935547,
                    "z": 0.12104968726634979
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.98297643661499,
                "transform": {
                    "location": {
                        "x": 949.196533203125,
                        "y": 3470.60888671875,
                        "z": 370.6254577636719
                    },
                    "rotation": {
                        "roll": 0.003459014231339097,
                        "pitch": 0.24073682725429535,
                        "yaw": 99.22096252441406
                    }
                },
                "velocity": {
                    "x": -1.27912437915802,
                    "y": 7.879759788513184,
                    "z": 0.033723488450050354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.006178379058838,
                "transform": {
                    "location": {
                        "x": 939.3970336914062,
                        "y": 3531.456787109375,
                        "z": 370.82318115234375
                    },
                    "rotation": {
                        "roll": -0.00021362364350352436,
                        "pitch": 0.06731834262609482,
                        "yaw": 99.1435775756836
                    }
                },
                "velocity": {
                    "x": -1.1131800413131714,
                    "y": 6.9171576499938965,
                    "z": 0.017170876264572144
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.029107093811035,
                "transform": {
                    "location": {
                        "x": 936.5446166992188,
                        "y": 3549.17529296875,
                        "z": 370.8597106933594
                    },
                    "rotation": {
                        "roll": 0.0004168835002928972,
                        "pitch": 0.05182747170329094,
                        "yaw": 99.11724090576172
                    }
                },
                "velocity": {
                    "x": -1.11539626121521,
                    "y": 6.940038681030273,
                    "z": 0.009708470664918423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.30863291025161743,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10389896482229233,
        "expert_target_speed": 8.983140997739085,
        "target_point": [
            31.60858608888494,
            0.23607799623577996
        ],
        "target_point_next": [
            50.106827686731094,
            0.48456009263766386
        ]
    },
    "650": {
        "acceleration": [
            -0.9138274192810059,
            5.653514862060547,
            0.010030753910541534
        ],
        "angular_velocity": [
            0.8670408129692078,
            0.11585669219493866,
            0.3745110332965851
        ],
        "forward_vector": [
            -0.14786529541015625,
            0.9889628291130066,
            0.009398320689797401
        ],
        "right_vector": [
            -0.9890055060386658,
            -0.14787732064723969,
            0.0005954564549028873
        ],
        "location": [
            934.559326171875,
            3540.676513671875,
            370.84173583984375
        ],
        "rotation": [
            -0.03411865234375,
            0.5384920835494995,
            98.50361633300781
        ],
        "velocity": [
            -1.5026655197143555,
            10.013232231140137,
            0.01794213242828846
        ],
        "speed": 10.12535546926043,
        "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": 16.82008934020996,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                931.9469604492188,
                3557.29248046875,
                370.8658142089844
            ],
            "velocity": [
                -0.4634760320186615,
                2.885960817337036,
                0.0024139212910085917
            ],
            "speed_kmh": 10.522588590848468,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.7932739257812,
                        "y": 3620.23876953125,
                        "z": 370.8841857910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.5845947265625,
                        "y": 3619.722412109375,
                        "z": 370.8841857910156
                    },
                    "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": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.805957317352295,
                "transform": {
                    "location": {
                        "x": 978.5821533203125,
                        "y": 3585.262451171875,
                        "z": 370.4144592285156
                    },
                    "rotation": {
                        "roll": 0.006077410653233528,
                        "pitch": 0.6685115694999695,
                        "yaw": -170.14503479003906
                    }
                },
                "velocity": {
                    "x": -6.705912113189697,
                    "y": -1.1596746444702148,
                    "z": 0.08339618146419525
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.9454956054688,
                        "y": 3470.938720703125,
                        "z": 370.6279602050781
                    },
                    "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": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7728881835938,
                        "y": 3442.7548828125,
                        "z": 370.4939270019531
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.8164672851562,
                        "y": 3622.682373046875,
                        "z": 370.8912353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "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": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.073918342590332,
                "transform": {
                    "location": {
                        "x": 939.7874145507812,
                        "y": 3550.741455078125,
                        "z": 370.8648376464844
                    },
                    "rotation": {
                        "roll": 0.007379451300948858,
                        "pitch": 0.13156309723854065,
                        "yaw": -80.8459701538086
                    }
                },
                "velocity": {
                    "x": 2.083988666534424,
                    "y": -12.906743049621582,
                    "z": -0.01787400245666504
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.37033748626709,
                "transform": {
                    "location": {
                        "x": 947.3914794921875,
                        "y": 3523.950439453125,
                        "z": 370.8088073730469
                    },
                    "rotation": {
                        "roll": -0.0002746587560977787,
                        "pitch": -0.10620260238647461,
                        "yaw": -80.85550689697266
                    }
                },
                "velocity": {
                    "x": 1.9638532400131226,
                    "y": -12.213410377502441,
                    "z": -0.03371640294790268
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04366683959961,
                "transform": {
                    "location": {
                        "x": 947.7366943359375,
                        "y": 3501.347412109375,
                        "z": 370.74273681640625
                    },
                    "rotation": {
                        "roll": -0.00012205693928990513,
                        "pitch": -0.1891142725944519,
                        "yaw": -80.85777282714844
                    }
                },
                "velocity": {
                    "x": 1.2780263423919678,
                    "y": -7.941445827484131,
                    "z": -0.02578311786055565
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061993598937988,
                "transform": {
                    "location": {
                        "x": 952.0474243164062,
                        "y": 3495.01611328125,
                        "z": 370.723388671875
                    },
                    "rotation": {
                        "roll": 0.0006949826492927969,
                        "pitch": -0.20052751898765564,
                        "yaw": -80.85820007324219
                    }
                },
                "velocity": {
                    "x": 1.2808853387832642,
                    "y": -7.959537982940674,
                    "z": -0.02884393185377121
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.3681030273438,
                        "y": 3457.69775390625,
                        "z": 370.57073974609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.953921318054199,
                "transform": {
                    "location": {
                        "x": 945.5698852539062,
                        "y": 3493.098388671875,
                        "z": 370.7502746582031
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.1987038552761078,
                        "yaw": 99.14492797851562
                    }
                },
                "velocity": {
                    "x": -1.2638946771621704,
                    "y": 7.852810382843018,
                    "z": 0.02837914414703846
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.25217056274414,
                "transform": {
                    "location": {
                        "x": 942.1710205078125,
                        "y": 3514.22119140625,
                        "z": 370.7823486328125
                    },
                    "rotation": {
                        "roll": 0.0001991440512938425,
                        "pitch": 0.21163339912891388,
                        "yaw": 99.1266098022461
                    }
                },
                "velocity": {
                    "x": -1.3108230829238892,
                    "y": 8.147366523742676,
                    "z": 0.022070493549108505
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.922941207885742,
                "transform": {
                    "location": {
                        "x": 931.9469604492188,
                        "y": 3557.29248046875,
                        "z": 370.8658142089844
                    },
                    "rotation": {
                        "roll": 0.00013994898472446948,
                        "pitch": 0.08388154953718185,
                        "yaw": 99.12005615234375
                    }
                },
                "velocity": {
                    "x": -0.4634760320186615,
                    "y": 2.885960817337036,
                    "z": 0.0024139212910085917
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.955658912658691,
                "transform": {
                    "location": {
                        "x": 923.6113891601562,
                        "y": 3575.830810546875,
                        "z": 370.9796142578125
                    },
                    "rotation": {
                        "roll": 0.3406224548816681,
                        "pitch": 0.755084216594696,
                        "yaw": 160.68521118164062
                    }
                },
                "velocity": {
                    "x": -7.8977251052856445,
                    "y": 0.9528104662895203,
                    "z": 0.10294082760810852
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.109959602355957,
                "transform": {
                    "location": {
                        "x": 948.8734130859375,
                        "y": 3472.6015625,
                        "z": 370.63385009765625
                    },
                    "rotation": {
                        "roll": 0.0011484837159514427,
                        "pitch": 0.2556608021259308,
                        "yaw": 99.22333526611328
                    }
                },
                "velocity": {
                    "x": -1.2972049713134766,
                    "y": 8.005475044250488,
                    "z": 0.032761115580797195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.735515117645264,
                "transform": {
                    "location": {
                        "x": 939.1200561523438,
                        "y": 3533.1767578125,
                        "z": 370.8271789550781
                    },
                    "rotation": {
                        "roll": -0.0004882821231149137,
                        "pitch": 0.0651736631989479,
                        "yaw": 99.14433288574219
                    }
                },
                "velocity": {
                    "x": -1.0706597566604614,
                    "y": 6.649857044219971,
                    "z": 0.015722788870334625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.7687835693359375,
                "transform": {
                    "location": {
                        "x": 936.2710571289062,
                        "y": 3550.87548828125,
                        "z": 370.8620300292969
                    },
                    "rotation": {
                        "roll": -0.00112914911005646,
                        "pitch": 0.032224830240011215,
                        "yaw": 99.16152954101562
                    }
                },
                "velocity": {
                    "x": -1.0755358934402466,
                    "y": 6.68278169631958,
                    "z": 0.009240016341209412
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.08487876504659653,
        "expert_target_speed": 9.410955764612318,
        "target_point": [
            29.234710129366974,
            0.16503628339713128
        ],
        "target_point_next": [
            47.73347047975153,
            0.3713153748191518
        ]
    },
    "655": {
        "acceleration": [
            0.10972023010253906,
            -1.1520004272460938,
            0.014285668730735779
        ],
        "angular_velocity": [
            -1.533259391784668,
            -0.24976101517677307,
            0.36791470646858215
        ],
        "forward_vector": [
            -0.14945316314697266,
            0.988746702671051,
            0.006611179560422897
        ],
        "right_vector": [
            -0.9887677431106567,
            -0.14945973455905914,
            0.0005075873341411352
        ],
        "location": [
            934.1717529296875,
            3543.248046875,
            370.84674072265625
        ],
        "rotation": [
            -0.0290832482278347,
            0.37879544496536255,
            98.59542846679688
        ],
        "velocity": [
            -1.5569547414779663,
            10.270417213439941,
            0.017628192901611328
        ],
        "speed": 10.387760962071383,
        "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": 15.038044929504395,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                931.8170776367188,
                3558.1005859375,
                370.8666687011719
            ],
            "velocity": [
                -0.5744777917861938,
                3.577554225921631,
                0.0021429634653031826
            ],
            "speed_kmh": 13.044188338177714,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.1243286132812,
                        "y": 3618.181396484375,
                        "z": 370.8855895996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.9157104492188,
                        "y": 3617.6650390625,
                        "z": 370.8855895996094
                    },
                    "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": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.288514614105225,
                "transform": {
                    "location": {
                        "x": 976.9528198242188,
                        "y": 3584.98046875,
                        "z": 370.43402099609375
                    },
                    "rotation": {
                        "roll": 0.006351051852107048,
                        "pitch": 0.6564562916755676,
                        "yaw": -170.12600708007812
                    }
                },
                "velocity": {
                    "x": -6.195855617523193,
                    "y": -1.0730493068695068,
                    "z": 0.07319597154855728
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.6145629882812,
                        "y": 3472.994873046875,
                        "z": 370.6383056640625
                    },
                    "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": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.4517822265625,
                        "y": 3444.751220703125,
                        "z": 370.50518798828125
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "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": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.617971420288086,
                "transform": {
                    "location": {
                        "x": 940.3214721679688,
                        "y": 3547.428955078125,
                        "z": 370.8603820800781
                    },
                    "rotation": {
                        "roll": 0.0031641428358852863,
                        "pitch": 0.052653923630714417,
                        "yaw": -80.85215759277344
                    }
                },
                "velocity": {
                    "x": 2.164896249771118,
                    "y": -13.444771766662598,
                    "z": -0.021892866119742393
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.421422004699707,
                "transform": {
                    "location": {
                        "x": 947.8896484375,
                        "y": 3520.852783203125,
                        "z": 370.80078125
                    },
                    "rotation": {
                        "roll": -0.00033570113009773195,
                        "pitch": -0.16344641149044037,
                        "yaw": -80.86323547363281
                    }
                },
                "velocity": {
                    "x": 1.9724925756454468,
                    "y": -12.263763427734375,
                    "z": -0.0330536849796772
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040813446044922,
                "transform": {
                    "location": {
                        "x": 948.0562133789062,
                        "y": 3499.36279296875,
                        "z": 370.7361145019531
                    },
                    "rotation": {
                        "roll": 0.0003891027590725571,
                        "pitch": -0.18890252709388733,
                        "yaw": -80.85432434082031
                    }
                },
                "velocity": {
                    "x": 1.2781567573547363,
                    "y": -7.938536167144775,
                    "z": -0.02548860013484955
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.090445518493652,
                "transform": {
                    "location": {
                        "x": 952.3682861328125,
                        "y": 3493.02294921875,
                        "z": 370.71612548828125
                    },
                    "rotation": {
                        "roll": 0.0006690762820653617,
                        "pitch": -0.21233691275119781,
                        "yaw": -80.85490417480469
                    }
                },
                "velocity": {
                    "x": 1.2858538627624512,
                    "y": -7.98755407333374,
                    "z": -0.02955009415745735
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0475463867188,
                        "y": 3459.690185546875,
                        "z": 370.5801086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.064732551574707,
                "transform": {
                    "location": {
                        "x": 945.2517700195312,
                        "y": 3495.074951171875,
                        "z": 370.7570495605469
                    },
                    "rotation": {
                        "roll": -0.00048827487626113,
                        "pitch": 0.20253558456897736,
                        "yaw": 99.13933563232422
                    }
                },
                "velocity": {
                    "x": -1.2812761068344116,
                    "y": 7.962257385253906,
                    "z": 0.0266330037266016
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.836968898773193,
                "transform": {
                    "location": {
                        "x": 941.853515625,
                        "y": 3516.193359375,
                        "z": 370.7877197265625
                    },
                    "rotation": {
                        "roll": -0.0012512174434959888,
                        "pitch": 0.10674218833446503,
                        "yaw": 99.15433502197266
                    }
                },
                "velocity": {
                    "x": -1.2450569868087769,
                    "y": 7.737407207489014,
                    "z": 0.021065987646579742
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6233856678009033,
                "transform": {
                    "location": {
                        "x": 931.8170776367188,
                        "y": 3558.1005859375,
                        "z": 370.8666687011719
                    },
                    "rotation": {
                        "roll": -0.0003356900706421584,
                        "pitch": 0.0794009417295456,
                        "yaw": 99.12274932861328
                    }
                },
                "velocity": {
                    "x": -0.5744777917861938,
                    "y": 3.577554225921631,
                    "z": 0.0021429634653031826
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062639236450195,
                "transform": {
                    "location": {
                        "x": 921.6312866210938,
                        "y": 3575.97265625,
                        "z": 371.0016784667969
                    },
                    "rotation": {
                        "roll": 0.21865488588809967,
                        "pitch": 0.5112259984016418,
                        "yaw": 175.2408905029297
                    }
                },
                "velocity": {
                    "x": -8.040788650512695,
                    "y": -0.5893632173538208,
                    "z": 0.0672391876578331
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.5570678710938,
                        "y": 3474.607421875,
                        "z": 370.6423645019531
                    },
                    "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.445932865142822,
                "transform": {
                    "location": {
                        "x": 938.8621826171875,
                        "y": 3534.779052734375,
                        "z": 370.8308410644531
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.008851924911141396,
                        "yaw": 99.14710235595703
                    }
                },
                "velocity": {
                    "x": -1.0245916843414307,
                    "y": 6.363966464996338,
                    "z": 0.013894700445234776
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.557215690612793,
                "transform": {
                    "location": {
                        "x": 936.0067749023438,
                        "y": 3552.5185546875,
                        "z": 370.8641662597656
                    },
                    "rotation": {
                        "roll": -9.155222505796701e-05,
                        "pitch": 0.02861849032342434,
                        "yaw": 99.1241455078125
                    }
                },
                "velocity": {
                    "x": -1.0409308671951294,
                    "y": 6.474062442779541,
                    "z": 0.007517089601606131
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0680370107293129,
        "expert_target_speed": 9.372439600304826,
        "target_point": [
            26.634361164711827,
            0.11930791701502219
        ],
        "target_point_next": [
            45.13342826695118,
            0.2959485447412913
        ]
    },
    "660": {
        "acceleration": [
            1.4725136756896973,
            -8.17983627319336,
            -0.021448321640491486
        ],
        "angular_velocity": [
            -2.7681362628936768,
            -0.6165851950645447,
            -1.4860656261444092
        ],
        "forward_vector": [
            -0.1467520296573639,
            0.989173173904419,
            -0.00044727319618687034
        ],
        "right_vector": [
            -0.9891730546951294,
            -0.146752268075943,
            -0.0005864622071385384
        ],
        "location": [
            933.798583984375,
            3545.7451171875,
            370.8522033691406
        ],
        "rotation": [
            0.03360181674361229,
            -0.02562686800956726,
            98.43875122070312
        ],
        "velocity": [
            -1.3659096956253052,
            9.352762222290039,
            0.01578867807984352
        ],
        "speed": 9.451977067434036,
        "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": 13.516037940979004,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                931.6580810546875,
                3559.090576171875,
                370.8676452636719
            ],
            "velocity": [
                -0.6920615434646606,
                4.308348178863525,
                0.0030839634127914906
            ],
            "speed_kmh": 15.708884825643167,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.45068359375,
                        "y": 3616.1533203125,
                        "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": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 929.2420043945312,
                        "y": 3615.637451171875,
                        "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.112584114074707,
                "transform": {
                    "location": {
                        "x": 975.4524536132812,
                        "y": 3584.7216796875,
                        "z": 370.45172119140625
                    },
                    "rotation": {
                        "roll": 0.008187944069504738,
                        "pitch": 0.6573032140731812,
                        "yaw": -170.201904296875
                    }
                },
                "velocity": {
                    "x": -6.025720596313477,
                    "y": -1.024261474609375,
                    "z": 0.07255063951015472
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.2835693359375,
                        "y": 3475.05126953125,
                        "z": 370.6473083496094
                    },
                    "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": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.1231079101562,
                        "y": 3446.79296875,
                        "z": 370.51617431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.5672025680542,
                "transform": {
                    "location": {
                        "x": 940.8621826171875,
                        "y": 3544.0703125,
                        "z": 370.85595703125
                    },
                    "rotation": {
                        "roll": 0.0015231076395139098,
                        "pitch": -0.0977468341588974,
                        "yaw": -80.87391662597656
                    }
                },
                "velocity": {
                    "x": 2.15468692779541,
                    "y": -13.394993782043457,
                    "z": -0.021453876048326492
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.169130325317383,
                "transform": {
                    "location": {
                        "x": 948.35498046875,
                        "y": 3517.959716796875,
                        "z": 370.7918395996094
                    },
                    "rotation": {
                        "roll": -0.0005187977221794426,
                        "pitch": -0.05157475546002388,
                        "yaw": -80.86387634277344
                    }
                },
                "velocity": {
                    "x": 1.7734407186508179,
                    "y": -11.027395248413086,
                    "z": -0.030746135860681534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043861389160156,
                "transform": {
                    "location": {
                        "x": 948.375732421875,
                        "y": 3497.377685546875,
                        "z": 370.72955322265625
                    },
                    "rotation": {
                        "roll": 0.0003988478274550289,
                        "pitch": -0.18832196295261383,
                        "yaw": -80.85733795166016
                    }
                },
                "velocity": {
                    "x": 1.2779783010482788,
                    "y": -7.941650867462158,
                    "z": -0.02581850439310074
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061944961547852,
                "transform": {
                    "location": {
                        "x": 952.689208984375,
                        "y": 3491.030029296875,
                        "z": 370.708740234375
                    },
                    "rotation": {
                        "roll": 3.8927002606214955e-05,
                        "pitch": -0.20983706414699554,
                        "yaw": -80.8545913696289
                    }
                },
                "velocity": {
                    "x": 1.2813502550125122,
                    "y": -7.959412097930908,
                    "z": -0.029251059517264366
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7166137695312,
                        "y": 3461.74658203125,
                        "z": 370.5890197753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025434494018555,
                "transform": {
                    "location": {
                        "x": 944.9318237304688,
                        "y": 3497.063720703125,
                        "z": 370.7638244628906
                    },
                    "rotation": {
                        "roll": 0.000979203381575644,
                        "pitch": 0.18603384494781494,
                        "yaw": 99.1415023803711
                    }
                },
                "velocity": {
                    "x": -1.274603247642517,
                    "y": 7.923531532287598,
                    "z": 0.024970121681690216
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.124137878417969,
                "transform": {
                    "location": {
                        "x": 941.5372314453125,
                        "y": 3518.1591796875,
                        "z": 370.7931823730469
                    },
                    "rotation": {
                        "roll": 0.0002497768437024206,
                        "pitch": 0.19065788388252258,
                        "yaw": 99.12842559814453
                    }
                },
                "velocity": {
                    "x": -1.290838599205017,
                    "y": 8.020903587341309,
                    "z": 0.021406201645731926
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.363579273223877,
                "transform": {
                    "location": {
                        "x": 931.6580810546875,
                        "y": 3559.090576171875,
                        "z": 370.8676452636719
                    },
                    "rotation": {
                        "roll": 0.0005055544315837324,
                        "pitch": 0.07461298257112503,
                        "yaw": 99.12459564208984
                    }
                },
                "velocity": {
                    "x": -0.6920615434646606,
                    "y": 4.308348178863525,
                    "z": 0.0030839634127914906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.046086311340332,
                "transform": {
                    "location": {
                        "x": 919.6260986328125,
                        "y": 3575.8251953125,
                        "z": 371.0184020996094
                    },
                    "rotation": {
                        "roll": 0.10958027839660645,
                        "pitch": 0.45532771944999695,
                        "yaw": -176.28152465820312
                    }
                },
                "velocity": {
                    "x": -7.978169918060303,
                    "y": -1.0413957834243774,
                    "z": 0.06167765334248543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.266357421875,
                        "y": 3476.669921875,
                        "z": 370.65142822265625
                    },
                    "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.316573619842529,
                "transform": {
                    "location": {
                        "x": 938.5904541015625,
                        "y": 3536.466552734375,
                        "z": 370.8332214355469
                    },
                    "rotation": {
                        "roll": -0.0014343449147418141,
                        "pitch": 0.2914236783981323,
                        "yaw": 99.1449966430664
                    }
                },
                "velocity": {
                    "x": -1.1629668474197388,
                    "y": 7.223542213439941,
                    "z": 0.013888425193727016
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.325129985809326,
                "transform": {
                    "location": {
                        "x": 935.7509765625,
                        "y": 3554.108154296875,
                        "z": 370.8659362792969
                    },
                    "rotation": {
                        "roll": 0.00011146415636176243,
                        "pitch": 0.029192226007580757,
                        "yaw": 99.16327667236328
                    }
                },
                "velocity": {
                    "x": -1.0057135820388794,
                    "y": 6.244659900665283,
                    "z": 0.005503339692950249
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0450892448425293,
        "expert_target_speed": 8.69642846408948,
        "target_point": [
            24.10913687754825,
            0.18944034158294443
        ],
        "target_point_next": [
            42.60765197342605,
            0.41665128343866
        ]
    },
    "665": {
        "acceleration": [
            1.0029029846191406,
            -5.491819381713867,
            -0.019373707473278046
        ],
        "angular_velocity": [
            -0.622311532497406,
            -0.15355314314365387,
            -1.4553734064102173
        ],
        "forward_vector": [
            -0.14019106328487396,
            0.990094780921936,
            -0.007669134996831417
        ],
        "right_vector": [
            -0.9901220798492432,
            -0.14020344614982605,
            -0.0011001325910910964
        ],
        "location": [
            933.4953002929688,
            3547.8671875,
            370.8571472167969
        ],
        "rotation": [
            0.06303482502698898,
            -0.4394133687019348,
            98.05914306640625
        ],
        "velocity": [
            -1.0767908096313477,
            7.752668857574463,
            0.012788514606654644
        ],
        "speed": 7.827090957879016,
        "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": 12.563386917114258,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                931.4691772460938,
                3560.26611328125,
                370.8689270019531
            ],
            "velocity": [
                -0.8163363337516785,
                5.080995082855225,
                0.009154967963695526
            ],
            "speed_kmh": 18.526188980033567,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.4463982582092285,
                "transform": {
                    "location": {
                        "x": 932.7322998046875,
                        "y": 3614.42529296875,
                        "z": 370.8839111328125
                    },
                    "rotation": {
                        "roll": -0.006713866721838713,
                        "pitch": -0.0048835850320756435,
                        "yaw": -80.71959686279297
                    }
                },
                "velocity": {
                    "x": 1.0781358480453491,
                    "y": -6.3555755615234375,
                    "z": -0.018227161839604378
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.359506130218506,
                "transform": {
                    "location": {
                        "x": 929.5242919921875,
                        "y": 3613.935546875,
                        "z": 370.88922119140625
                    },
                    "rotation": {
                        "roll": 0.019307861104607582,
                        "pitch": 0.17016732692718506,
                        "yaw": -80.57377624511719
                    }
                },
                "velocity": {
                    "x": 1.102332353591919,
                    "y": -6.263221263885498,
                    "z": 0.015516623854637146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.872339248657227,
                "transform": {
                    "location": {
                        "x": 973.862060546875,
                        "y": 3584.451416015625,
                        "z": 370.47021484375
                    },
                    "rotation": {
                        "roll": 0.004754769615828991,
                        "pitch": 0.6897944211959839,
                        "yaw": -170.37600708007812
                    }
                },
                "velocity": {
                    "x": -6.7766242027282715,
                    "y": -1.1402220726013184,
                    "z": 0.07944081723690033
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.9526977539062,
                        "y": 3477.107666015625,
                        "z": 370.656005859375
                    },
                    "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": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.792236328125,
                        "y": 3448.849365234375,
                        "z": 370.5272216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.456504821777344,
                "transform": {
                    "location": {
                        "x": 941.3982543945312,
                        "y": 3540.73779296875,
                        "z": 370.8504638671875
                    },
                    "rotation": {
                        "roll": -0.0005798276397399604,
                        "pitch": -0.15011389553546906,
                        "yaw": -80.85105895996094
                    }
                },
                "velocity": {
                    "x": 2.1376259326934814,
                    "y": -13.285609245300293,
                    "z": -0.02552526444196701
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.358039855957031,
                "transform": {
                    "location": {
                        "x": 948.798095703125,
                        "y": 3515.204345703125,
                        "z": 370.7849426269531
                    },
                    "rotation": {
                        "roll": -0.0003662235103547573,
                        "pitch": -0.15420517325401306,
                        "yaw": -80.86396026611328
                    }
                },
                "velocity": {
                    "x": 1.803377389907837,
                    "y": -11.213921546936035,
                    "z": -0.02932453155517578
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040574073791504,
                "transform": {
                    "location": {
                        "x": 948.6951293945312,
                        "y": 3495.39306640625,
                        "z": 370.7228698730469
                    },
                    "rotation": {
                        "roll": 6.830895290477201e-05,
                        "pitch": -0.19567808508872986,
                        "yaw": -80.85801696777344
                    }
                },
                "velocity": {
                    "x": 1.277506947517395,
                    "y": -7.938387870788574,
                    "z": -0.028277849778532982
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091405868530273,
                "transform": {
                    "location": {
                        "x": 953.0101318359375,
                        "y": 3489.0361328125,
                        "z": 370.7013854980469
                    },
                    "rotation": {
                        "roll": 0.00013602437684312463,
                        "pitch": -0.20812951028347015,
                        "yaw": -80.85441589355469
                    }
                },
                "velocity": {
                    "x": 1.2860362529754639,
                    "y": -7.98849630355835,
                    "z": -0.029815267771482468
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.3856811523438,
                        "y": 3463.802978515625,
                        "z": 370.59796142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009797096252441,
                "transform": {
                    "location": {
                        "x": 944.6139526367188,
                        "y": 3499.03955078125,
                        "z": 370.7703552246094
                    },
                    "rotation": {
                        "roll": 0.0008945927838794887,
                        "pitch": 0.18621143698692322,
                        "yaw": 99.13513946533203
                    }
                },
                "velocity": {
                    "x": -1.2720706462860107,
                    "y": 7.9080986976623535,
                    "z": 0.02577502280473709
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.057612419128418,
                "transform": {
                    "location": {
                        "x": 941.21435546875,
                        "y": 3520.166259765625,
                        "z": 370.79876708984375
                    },
                    "rotation": {
                        "roll": 0.000768759346101433,
                        "pitch": 0.1576407551765442,
                        "yaw": 99.15052795410156
                    }
                },
                "velocity": {
                    "x": -1.279441475868225,
                    "y": 7.955355167388916,
                    "z": 0.021685075014829636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.146163463592529,
                "transform": {
                    "location": {
                        "x": 931.4691772460938,
                        "y": 3560.26611328125,
                        "z": 370.8689270019531
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.06977720558643341,
                        "yaw": 99.12765502929688
                    }
                },
                "velocity": {
                    "x": -0.8163363337516785,
                    "y": 5.080995082855225,
                    "z": 0.009154967963695526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007552146911621,
                "transform": {
                    "location": {
                        "x": 917.6404418945312,
                        "y": 3575.565185546875,
                        "z": 371.0339660644531
                    },
                    "rotation": {
                        "roll": 0.04740872234106064,
                        "pitch": 0.46092846989631653,
                        "yaw": -172.6525115966797
                    }
                },
                "velocity": {
                    "x": -7.912751197814941,
                    "y": -1.2268526554107666,
                    "z": 0.06402996182441711
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.9757690429688,
                        "y": 3478.732421875,
                        "z": 370.6606140136719
                    },
                    "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": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.317072868347168,
                "transform": {
                    "location": {
                        "x": 938.2745361328125,
                        "y": 3538.429931640625,
                        "z": 370.8363342285156
                    },
                    "rotation": {
                        "roll": 0.00015384532161988318,
                        "pitch": 0.5058437585830688,
                        "yaw": 99.14368438720703
                    }
                },
                "velocity": {
                    "x": -1.3214718103408813,
                    "y": 8.21140193939209,
                    "z": 0.017340660095214844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.106944561004639,
                "transform": {
                    "location": {
                        "x": 935.5043334960938,
                        "y": 3555.640625,
                        "z": 370.86767578125
                    },
                    "rotation": {
                        "roll": -0.0005798324127681553,
                        "pitch": 0.030121132731437683,
                        "yaw": 99.12591552734375
                    }
                },
                "velocity": {
                    "x": -0.9697361588478088,
                    "y": 6.02945613861084,
                    "z": 0.00635465607047081
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.27388328313827515,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01004637498408556,
        "expert_target_speed": 7.632245612315347,
        "target_point": [
            21.96372103514823,
            0.34639496691220995
        ],
        "target_point_next": [
            40.460324603790006,
            0.6961691641110468
        ]
    },
    "670": {
        "acceleration": [
            1.759796142578125,
            -11.910257339477539,
            -0.003920178860425949
        ],
        "angular_velocity": [
            -1.8652195930480957,
            -0.19802621006965637,
            -0.5927852392196655
        ],
        "forward_vector": [
            -0.1345389038324356,
            0.9908689260482788,
            -0.008837822824716568
        ],
        "right_vector": [
            -0.9909057021141052,
            -0.1345536857843399,
            -0.0010962386149913073
        ],
        "location": [
            933.2522583007812,
            3549.650634765625,
            370.8599548339844
        ],
        "rotation": [
            0.06281231343746185,
            -0.5063765645027161,
            97.73226165771484
        ],
        "velocity": [
            -0.8275536894798279,
            6.250162124633789,
            0.00939752534031868
        ],
        "speed": 6.304710278290227,
        "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": 12.077180862426758,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                931.2608642578125,
                3561.5625,
                370.87030029296875
            ],
            "velocity": [
                -0.834360659122467,
                5.185427665710449,
                0.0055830287747085094
            ],
            "speed_kmh": 18.907660946557588,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9197387695312,
                        "y": 3435.6298828125,
                        "z": 370.80120849609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.4691162109375,
                        "y": 3628.468017578125,
                        "z": 370.89385986328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.3212890625,
                        "y": 3627.572998046875,
                        "z": 370.8929138183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.653975486755371,
                "transform": {
                    "location": {
                        "x": 933.0060424804688,
                        "y": 3612.8095703125,
                        "z": 370.8820495605469
                    },
                    "rotation": {
                        "roll": -0.0014038074295967817,
                        "pitch": 0.03262781351804733,
                        "yaw": -80.3310317993164
                    }
                },
                "velocity": {
                    "x": 1.1218279600143433,
                    "y": -6.558725833892822,
                    "z": 0.0014794730814173818
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.422319412231445,
                "transform": {
                    "location": {
                        "x": 929.7958374023438,
                        "y": 3612.361083984375,
                        "z": 370.8924865722656
                    },
                    "rotation": {
                        "roll": -0.003967286087572575,
                        "pitch": 0.057844869792461395,
                        "yaw": -80.32990264892578
                    }
                },
                "velocity": {
                    "x": 1.0759297609329224,
                    "y": -6.331550121307373,
                    "z": 0.006166515406221151
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.927943229675293,
                "transform": {
                    "location": {
                        "x": 972.0171508789062,
                        "y": 3584.14111328125,
                        "z": 370.4918212890625
                    },
                    "rotation": {
                        "roll": 0.004073320422321558,
                        "pitch": 0.7030176520347595,
                        "yaw": -170.4949188232422
                    }
                },
                "velocity": {
                    "x": -7.818755149841309,
                    "y": -1.3082263469696045,
                    "z": 0.08886407315731049
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.6217041015625,
                        "y": 3479.1640625,
                        "z": 370.6646423339844
                    },
                    "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": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4612426757812,
                        "y": 3450.905517578125,
                        "z": 370.5377502441406
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.431767463684082,
                "transform": {
                    "location": {
                        "x": 941.9317016601562,
                        "y": 3537.4208984375,
                        "z": 370.8435363769531
                    },
                    "rotation": {
                        "roll": 0.0006494165863841772,
                        "pitch": -0.13339358568191528,
                        "yaw": -80.87499237060547
                    }
                },
                "velocity": {
                    "x": 2.132218360900879,
                    "y": -13.261418342590332,
                    "z": -0.02853100746870041
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.201024055480957,
                "transform": {
                    "location": {
                        "x": 949.2539672851562,
                        "y": 3512.369873046875,
                        "z": 370.777099609375
                    },
                    "rotation": {
                        "roll": -0.0004272483929526061,
                        "pitch": -0.1464870572090149,
                        "yaw": -80.86153411865234
                    }
                },
                "velocity": {
                    "x": 1.7809045314788818,
                    "y": -11.058497428894043,
                    "z": -0.030905213207006454
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0433988571167,
                "transform": {
                    "location": {
                        "x": 949.0145263671875,
                        "y": 3493.407958984375,
                        "z": 370.71588134765625
                    },
                    "rotation": {
                        "roll": -0.00030517939012497663,
                        "pitch": -0.20871007442474365,
                        "yaw": -80.8580093383789
                    }
                },
                "velocity": {
                    "x": 1.277887225151062,
                    "y": -7.9411821365356445,
                    "z": -0.029732942581176758
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06235408782959,
                "transform": {
                    "location": {
                        "x": 953.3309936523438,
                        "y": 3487.04296875,
                        "z": 370.6936950683594
                    },
                    "rotation": {
                        "roll": 0.0007185424910858274,
                        "pitch": -0.2204921543598175,
                        "yaw": -80.85542297363281
                    }
                },
                "velocity": {
                    "x": 1.2804783582687378,
                    "y": -7.959965229034424,
                    "z": -0.029581895098090172
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.0547485351562,
                        "y": 3465.859375,
                        "z": 370.60662841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044638633728027,
                "transform": {
                    "location": {
                        "x": 944.294921875,
                        "y": 3501.0224609375,
                        "z": 370.77685546875
                    },
                    "rotation": {
                        "roll": 0.0004535497282631695,
                        "pitch": 0.19125211238861084,
                        "yaw": 99.14427185058594
                    }
                },
                "velocity": {
                    "x": -1.2781238555908203,
                    "y": 7.942413330078125,
                    "z": 0.025997523218393326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.978423118591309,
                "transform": {
                    "location": {
                        "x": 940.897216796875,
                        "y": 3522.13720703125,
                        "z": 370.80413818359375
                    },
                    "rotation": {
                        "roll": 0.0009585039806552231,
                        "pitch": 0.14376181364059448,
                        "yaw": 99.1275634765625
                    }
                },
                "velocity": {
                    "x": -1.2675055265426636,
                    "y": 7.877068996429443,
                    "z": 0.021108921617269516
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2521281242370605,
                "transform": {
                    "location": {
                        "x": 931.2608642578125,
                        "y": 3561.5625,
                        "z": 370.87030029296875
                    },
                    "rotation": {
                        "roll": -0.0004882820066995919,
                        "pitch": 0.05729162320494652,
                        "yaw": 99.13898468017578
                    }
                },
                "velocity": {
                    "x": -0.834360659122467,
                    "y": 5.185427665710449,
                    "z": 0.0055830287747085094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037140846252441,
                "transform": {
                    "location": {
                        "x": 915.6576538085938,
                        "y": 3575.26171875,
                        "z": 371.0500793457031
                    },
                    "rotation": {
                        "roll": 0.015692900866270065,
                        "pitch": 0.4539206922054291,
                        "yaw": -171.37567138671875
                    }
                },
                "velocity": {
                    "x": -7.935126781463623,
                    "y": -1.27489173412323,
                    "z": 0.06357070803642273
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.6470947265625,
                        "y": 3480.78857421875,
                        "z": 370.66900634765625
                    },
                    "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": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.395415782928467,
                "transform": {
                    "location": {
                        "x": 937.9606323242188,
                        "y": 3540.380126953125,
                        "z": 370.84210205078125
                    },
                    "rotation": {
                        "roll": 0.0014273098204284906,
                        "pitch": 0.04890415072441101,
                        "yaw": 99.13742065429688
                    }
                },
                "velocity": {
                    "x": -1.173850417137146,
                    "y": 7.301646709442139,
                    "z": 0.014166965149343014
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.906876564025879,
                "transform": {
                    "location": {
                        "x": 935.2657470703125,
                        "y": 3557.1220703125,
                        "z": 370.8693542480469
                    },
                    "rotation": {
                        "roll": -0.00018310612358618528,
                        "pitch": 0.03305811434984207,
                        "yaw": 99.16804504394531
                    }
                },
                "velocity": {
                    "x": -0.9386966228485107,
                    "y": 5.831808567047119,
                    "z": 0.0069073960185050964
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03840618580579758,
        "expert_target_speed": 6.499996611573148,
        "target_point": [
            20.161456165300788,
            0.47080958505205217
        ],
        "target_point_next": [
            38.65576333382266,
            0.9260984174192037
        ]
    },
    "675": {
        "acceleration": [
            0.17866730690002441,
            -0.9620761871337891,
            -0.05064410716295242
        ],
        "angular_velocity": [
            1.4509278535842896,
            0.284685343503952,
            -0.7221611738204956
        ],
        "forward_vector": [
            -0.12937912344932556,
            0.9915420413017273,
            -0.0102651696652174
        ],
        "right_vector": [
            -0.9915929436683655,
            -0.1293940246105194,
            -0.0007980783120729029
        ],
        "location": [
            933.0790405273438,
            3550.982666015625,
            370.8619384765625
        ],
        "rotation": [
            0.045728929340839386,
            -0.5881612300872803,
            97.43411254882812
        ],
        "velocity": [
            -0.6239989995956421,
            4.923581123352051,
            0.0030479717534035444
        ],
        "speed": 4.9629654270128665,
        "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": 12.028644561767578,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                931.0552978515625,
                3562.83984375,
                370.87152099609375
            ],
            "velocity": [
                -0.8032202124595642,
                4.990163326263428,
                0.005832547787576914
            ],
            "speed_kmh": 18.195828387140796,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 986.4259033203125,
                        "y": 3586.569091796875,
                        "z": 370.5169372558594
                    },
                    "rotation": {
                        "roll": 6.670674679298827e-09,
                        "pitch": 0.747953474521637,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": -9.729845373840362e-09,
                    "y": -1.585022668670888e-09,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.5896606445312,
                        "y": 3437.6806640625,
                        "z": 370.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.7565307617188,
                        "y": 3626.68115234375,
                        "z": 370.8890686035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.5809326171875,
                        "y": 3625.958251953125,
                        "z": 370.8885192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.415970325469971,
                "transform": {
                    "location": {
                        "x": 933.2802124023438,
                        "y": 3611.2001953125,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 6.763155397493392e-05,
                        "pitch": 0.03840615227818489,
                        "yaw": -80.22685241699219
                    }
                },
                "velocity": {
                    "x": 1.081087589263916,
                    "y": -6.324230670928955,
                    "z": 0.005544090177863836
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.325113296508789,
                "transform": {
                    "location": {
                        "x": 930.0625610351562,
                        "y": 3610.790771484375,
                        "z": 370.8937072753906
                    },
                    "rotation": {
                        "roll": -0.001220699748955667,
                        "pitch": 0.04158218950033188,
                        "yaw": -80.35267639160156
                    }
                },
                "velocity": {
                    "x": 1.0572963953018188,
                    "y": -6.236117362976074,
                    "z": 0.005239190999418497
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.376011848449707,
                "transform": {
                    "location": {
                        "x": 970.112060546875,
                        "y": 3583.82275390625,
                        "z": 370.5137023925781
                    },
                    "rotation": {
                        "roll": 0.0027898584958165884,
                        "pitch": 0.6133372783660889,
                        "yaw": -170.5712127685547
                    }
                },
                "velocity": {
                    "x": -7.276228904724121,
                    "y": -1.2064868211746216,
                    "z": 0.08018197864294052
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.2907104492188,
                        "y": 3481.22021484375,
                        "z": 370.67303466796875
                    },
                    "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": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.1303100585938,
                        "y": 3452.9619140625,
                        "z": 370.5481262207031
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.445456504821777,
                "transform": {
                    "location": {
                        "x": 942.4649658203125,
                        "y": 3534.103759765625,
                        "z": 370.8362121582031
                    },
                    "rotation": {
                        "roll": -0.0006713907932862639,
                        "pitch": -0.11062173545360565,
                        "yaw": -80.85884094238281
                    }
                },
                "velocity": {
                    "x": 2.1358108520507812,
                    "y": -13.274703025817871,
                    "z": -0.02933443896472454
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.843281745910645,
                "transform": {
                    "location": {
                        "x": 949.6854248046875,
                        "y": 3509.688720703125,
                        "z": 370.7691650390625
                    },
                    "rotation": {
                        "roll": 2.6953972337651066e-05,
                        "pitch": -0.13476645946502686,
                        "yaw": -80.8591079711914
                    }
                },
                "velocity": {
                    "x": 1.722557783126831,
                    "y": -10.705537796020508,
                    "z": -0.03190121427178383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041009902954102,
                "transform": {
                    "location": {
                        "x": 949.3338623046875,
                        "y": 3491.42333984375,
                        "z": 370.7085876464844
                    },
                    "rotation": {
                        "roll": -0.0009460408473387361,
                        "pitch": -0.20898328721523285,
                        "yaw": -80.85796356201172
                    }
                },
                "velocity": {
                    "x": 1.2775295972824097,
                    "y": -7.938823223114014,
                    "z": -0.028949374333024025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092062950134277,
                "transform": {
                    "location": {
                        "x": 953.6517944335938,
                        "y": 3485.04931640625,
                        "z": 370.6860046386719
                    },
                    "rotation": {
                        "roll": 0.0011357283219695091,
                        "pitch": -0.23254060745239258,
                        "yaw": -80.86143493652344
                    }
                },
                "velocity": {
                    "x": 1.2837644815444946,
                    "y": -7.989523887634277,
                    "z": -0.030625667423009872
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.7290649414062,
                        "y": 3467.8828125,
                        "z": 370.6151123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.018624305725098,
                "transform": {
                    "location": {
                        "x": 943.975830078125,
                        "y": 3503.0048828125,
                        "z": 370.7831115722656
                    },
                    "rotation": {
                        "roll": -0.0007324210600927472,
                        "pitch": 0.17405369877815247,
                        "yaw": 99.13927459716797
                    }
                },
                "velocity": {
                    "x": -1.2739852666854858,
                    "y": 7.916734218597412,
                    "z": 0.024922380223870277
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.084909439086914,
                "transform": {
                    "location": {
                        "x": 940.57763671875,
                        "y": 3524.122802734375,
                        "z": 370.8094482421875
                    },
                    "rotation": {
                        "roll": 0.0004987858701497316,
                        "pitch": 0.16021573543548584,
                        "yaw": 99.15584564208984
                    }
                },
                "velocity": {
                    "x": -1.2845921516418457,
                    "y": 7.982175350189209,
                    "z": 0.021471958607435226
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.054396629333496,
                "transform": {
                    "location": {
                        "x": 931.0552978515625,
                        "y": 3562.83984375,
                        "z": 370.87152099609375
                    },
                    "rotation": {
                        "roll": 1.999365167648648e-06,
                        "pitch": 0.047886453568935394,
                        "yaw": 99.14301300048828
                    }
                },
                "velocity": {
                    "x": -0.8032202124595642,
                    "y": 4.990163326263428,
                    "z": 0.005832547787576914
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.027948379516602,
                "transform": {
                    "location": {
                        "x": 913.6743774414062,
                        "y": 3574.944580078125,
                        "z": 371.0657653808594
                    },
                    "rotation": {
                        "roll": 0.0036259714979678392,
                        "pitch": 0.44267818331718445,
                        "yaw": -170.90908813476562
                    }
                },
                "velocity": {
                    "x": -7.924314022064209,
                    "y": -1.2841747999191284,
                    "z": 0.0640707015991211
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.633420944213867,
                "transform": {
                    "location": {
                        "x": 947.337158203125,
                        "y": 3482.72314453125,
                        "z": 370.67626953125
                    },
                    "rotation": {
                        "roll": -0.01672363467514515,
                        "pitch": -0.012485585175454617,
                        "yaw": 99.20561981201172
                    }
                },
                "velocity": {
                    "x": -1.0770162343978882,
                    "y": 6.5453667640686035,
                    "z": 0.021947069093585014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.504055976867676,
                "transform": {
                    "location": {
                        "x": 937.6965942382812,
                        "y": 3542.01806640625,
                        "z": 370.8468017578125
                    },
                    "rotation": {
                        "roll": -0.0017394906608387828,
                        "pitch": -0.4212040901184082,
                        "yaw": 99.0616683959961
                    }
                },
                "velocity": {
                    "x": -0.8746340274810791,
                    "y": 5.434110164642334,
                    "z": 0.009703540243208408
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.697609901428223,
                "transform": {
                    "location": {
                        "x": 935.0353393554688,
                        "y": 3558.552734375,
                        "z": 370.8709716796875
                    },
                    "rotation": {
                        "roll": -0.0013427742524072528,
                        "pitch": 0.030312377959489822,
                        "yaw": 99.13420867919922
                    }
                },
                "velocity": {
                    "x": -0.9067338109016418,
                    "y": 5.62499475479126,
                    "z": 0.005310086999088526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08963289111852646,
        "expert_target_speed": 5.43631188268377,
        "target_point": [
            18.815486411102025,
            0.5763109495629379
        ],
        "target_point_next": [
            37.30717372922076,
            1.127841269168969
        ]
    },
    "680": {
        "acceleration": [
            0.09319305419921875,
            -1.1991310119628906,
            -0.022684484720230103
        ],
        "angular_velocity": [
            0.7917267084121704,
            0.10891592502593994,
            3.6293442249298096
        ],
        "forward_vector": [
            -0.12898124754428864,
            0.9916428923606873,
            -0.0028581577353179455
        ],
        "right_vector": [
            -0.9916468858718872,
            -0.1289820522069931,
            -9.61834957706742e-05
        ],
        "location": [
            932.9177856445312,
            3552.235595703125,
            370.8620300292969
        ],
        "rotation": [
            0.0055109309032559395,
            -0.16376060247421265,
            97.41075897216797
        ],
        "velocity": [
            -0.6452909111976624,
            4.975339889526367,
            0.005869760178029537
        ],
        "speed": 5.0170117975131925,
        "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": 12.01498031616211,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                930.85693359375,
                3564.072509765625,
                370.8724060058594
            ],
            "velocity": [
                -0.7862034440040588,
                4.871622085571289,
                0.003287677653133869
            ],
            "speed_kmh": 17.7647610785575,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.4140625,
                        "y": 3468.02734375,
                        "z": 370.8627624511719
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.10856706649065018,
                "transform": {
                    "location": {
                        "x": 986.424560546875,
                        "y": 3586.568603515625,
                        "z": 370.2658996582031
                    },
                    "rotation": {
                        "roll": 0.00038937278441153467,
                        "pitch": 0.7349488139152527,
                        "yaw": -170.74749755859375
                    }
                },
                "velocity": {
                    "x": 0.0014033436309546232,
                    "y": 0.00020396623585838825,
                    "z": 0.1085578054189682
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.3003540039062,
                        "y": 3439.47802734375,
                        "z": 370.48590087890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.0112915039062,
                        "y": 3625.097412109375,
                        "z": 370.884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.8302001953125,
                        "y": 3624.408935546875,
                        "z": 370.88427734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.069624900817871,
                "transform": {
                    "location": {
                        "x": 933.5492553710938,
                        "y": 3609.626708984375,
                        "z": 370.8841857910156
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.025217056274414062,
                        "yaw": -80.2434310913086
                    }
                },
                "velocity": {
                    "x": 1.022695779800415,
                    "y": -5.982842922210693,
                    "z": 0.005472221411764622
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.991976261138916,
                "transform": {
                    "location": {
                        "x": 930.3232421875,
                        "y": 3609.25341796875,
                        "z": 370.89453125
                    },
                    "rotation": {
                        "roll": -0.0001525854750070721,
                        "pitch": 0.07407339662313461,
                        "yaw": -80.36963653564453
                    }
                },
                "velocity": {
                    "x": 1.0008387565612793,
                    "y": -5.907797813415527,
                    "z": 0.005157890263944864
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.8485260009765625,
                "transform": {
                    "location": {
                        "x": 968.3775024414062,
                        "y": 3583.53564453125,
                        "z": 370.5328063964844
                    },
                    "rotation": {
                        "roll": 0.002142383251339197,
                        "pitch": 0.5772397518157959,
                        "yaw": -170.64120483398438
                    }
                },
                "velocity": {
                    "x": -6.7570719718933105,
                    "y": -1.113141417503357,
                    "z": 0.07215097546577454
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.9598999023438,
                        "y": 3483.27685546875,
                        "z": 370.681396484375
                    },
                    "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": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.8522338867188,
                        "y": 3454.6904296875,
                        "z": 370.5567626953125
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.45488452911377,
                "transform": {
                    "location": {
                        "x": 942.9989624023438,
                        "y": 3530.78369140625,
                        "z": 370.8285827636719
                    },
                    "rotation": {
                        "roll": 0.00027240123017691076,
                        "pitch": -0.13546313345432281,
                        "yaw": -80.87076568603516
                    }
                },
                "velocity": {
                    "x": 2.136507511138916,
                    "y": -13.284137725830078,
                    "z": -0.030770329758524895
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.643774032592773,
                "transform": {
                    "location": {
                        "x": 950.1196899414062,
                        "y": 3506.9921875,
                        "z": 370.7613220214844
                    },
                    "rotation": {
                        "roll": -3.0515833714162e-05,
                        "pitch": -0.14557181298732758,
                        "yaw": -80.84959411621094
                    }
                },
                "velocity": {
                    "x": 1.6925987005233765,
                    "y": -10.508282661437988,
                    "z": -0.03227027505636215
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042572021484375,
                "transform": {
                    "location": {
                        "x": 949.6533203125,
                        "y": 3489.4384765625,
                        "z": 370.7012939453125
                    },
                    "rotation": {
                        "roll": -0.0005798428901471198,
                        "pitch": -0.209072083234787,
                        "yaw": -80.8580093383789
                    }
                },
                "velocity": {
                    "x": 1.2777941226959229,
                    "y": -7.940364360809326,
                    "z": -0.02870825305581093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.94873046875,
                        "y": 3483.0126953125,
                        "z": 370.6766662597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.4590454101562,
                        "y": 3469.5595703125,
                        "z": 370.6222229003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026986122131348,
                "transform": {
                    "location": {
                        "x": 943.6573486328125,
                        "y": 3504.984375,
                        "z": 370.7891845703125
                    },
                    "rotation": {
                        "roll": 0.0003034777764696628,
                        "pitch": 0.16684101521968842,
                        "yaw": 99.14733123779297
                    }
                },
                "velocity": {
                    "x": -1.2770053148269653,
                    "y": 7.924718379974365,
                    "z": 0.024607304483652115
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.485393524169922,
                "transform": {
                    "location": {
                        "x": 940.2640380859375,
                        "y": 3526.07080078125,
                        "z": 370.814453125
                    },
                    "rotation": {
                        "roll": -0.0008544943411834538,
                        "pitch": 0.05244218930602074,
                        "yaw": 99.13180541992188
                    }
                },
                "velocity": {
                    "x": -1.1897239685058594,
                    "y": 7.3902177810668945,
                    "z": 0.01873025856912136
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.934656143188477,
                "transform": {
                    "location": {
                        "x": 930.85693359375,
                        "y": 3564.072509765625,
                        "z": 370.8724060058594
                    },
                    "rotation": {
                        "roll": 0.0006759488023817539,
                        "pitch": 0.04852166026830673,
                        "yaw": 99.16831970214844
                    }
                },
                "velocity": {
                    "x": -0.7862034440040588,
                    "y": 4.871622085571289,
                    "z": 0.003287677653133869
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026997566223145,
                "transform": {
                    "location": {
                        "x": 911.6936645507812,
                        "y": 3574.624267578125,
                        "z": 371.08148193359375
                    },
                    "rotation": {
                        "roll": 0.0004348269721958786,
                        "pitch": 0.4385732412338257,
                        "yaw": -170.84133911132812
                    }
                },
                "velocity": {
                    "x": -7.9236741065979,
                    "y": -1.2823342084884644,
                    "z": 0.06082116812467575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.830427646636963,
                "transform": {
                    "location": {
                        "x": 947.05419921875,
                        "y": 3484.38427734375,
                        "z": 370.6823425292969
                    },
                    "rotation": {
                        "roll": -0.013427735306322575,
                        "pitch": 0.15721045434474945,
                        "yaw": 99.66659545898438
                    }
                },
                "velocity": {
                    "x": -1.1479761600494385,
                    "y": 6.733221054077148,
                    "z": 0.024988049641251564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.270030498504639,
                "transform": {
                    "location": {
                        "x": 937.5310668945312,
                        "y": 3543.049560546875,
                        "z": 370.84881591796875
                    },
                    "rotation": {
                        "roll": 0.008223826996982098,
                        "pitch": -0.554843544960022,
                        "yaw": 99.12808227539062
                    }
                },
                "velocity": {
                    "x": -0.6780495047569275,
                    "y": 4.215847492218018,
                    "z": 0.006172695197165012
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.503661632537842,
                "transform": {
                    "location": {
                        "x": 934.8130493164062,
                        "y": 3559.93408203125,
                        "z": 370.87237548828125
                    },
                    "rotation": {
                        "roll": 0.00022166849521454424,
                        "pitch": 0.024663811549544334,
                        "yaw": 99.17193603515625
                    }
                },
                "velocity": {
                    "x": -0.8745916485786438,
                    "y": 5.433723449707031,
                    "z": 0.005648517515510321
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1239931583404541,
        "expert_target_speed": 5.473991084935892,
        "target_point": [
            17.551987444002087,
            0.5856659918840816
        ],
        "target_point_next": [
            36.04344876861568,
            1.144722022025701
        ]
    },
    "685": {
        "acceleration": [
            -0.007554292678833008,
            -0.13620376586914062,
            0.0016628298908472061
        ],
        "angular_velocity": [
            0.021095367148518562,
            0.03912855312228203,
            0.4632461369037628
        ],
        "forward_vector": [
            -0.12920686602592468,
            0.9916166663169861,
            0.0013651843182742596
        ],
        "right_vector": [
            -0.9916176199913025,
            -0.1292070895433426,
            7.776426355121657e-05
        ],
        "location": [
            932.7459716796875,
            3553.5546875,
            370.8625793457031
        ],
        "rotation": [
            -0.004455568268895149,
            0.07821932435035706,
            97.42376708984375
        ],
        "velocity": [
            -0.6971085667610168,
            5.332465648651123,
            0.0060179997235536575
        ],
        "speed": 5.377838808284964,
        "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": 11.87991714477539,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                930.6666870117188,
                3565.251220703125,
                370.8735046386719
            ],
            "velocity": [
                -0.742692232131958,
                4.60433292388916,
                0.006373844109475613
            ],
            "speed_kmh": 16.789866649509634,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2244873046875,
                        "y": 3469.20458984375,
                        "z": 370.71893310546875
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9060884714126587,
                "transform": {
                    "location": {
                        "x": 986.3884887695312,
                        "y": 3586.56201171875,
                        "z": 370.2989807128906
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": 0.7754244804382324,
                        "yaw": -170.74327087402344
                    }
                },
                "velocity": {
                    "x": -0.8863859176635742,
                    "y": -0.16349074244499207,
                    "z": 0.09266673773527145
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.032470703125,
                        "y": 3441.141845703125,
                        "z": 370.4924011230469
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.2489013671875,
                        "y": 3623.62109375,
                        "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": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.0653686523438,
                        "y": 3622.94921875,
                        "z": 370.88232421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.085482597351074,
                "transform": {
                    "location": {
                        "x": 933.8002319335938,
                        "y": 3608.1533203125,
                        "z": 370.88519287109375
                    },
                    "rotation": {
                        "roll": 0.0024026227183640003,
                        "pitch": 0.034820303320884705,
                        "yaw": -80.32889556884766
                    }
                },
                "velocity": {
                    "x": 1.007772445678711,
                    "y": -6.001455783843994,
                    "z": 0.004928054753690958
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.03284215927124,
                "transform": {
                    "location": {
                        "x": 930.5692138671875,
                        "y": 3607.795654296875,
                        "z": 370.8957824707031
                    },
                    "rotation": {
                        "roll": -0.005462644621729851,
                        "pitch": 0.03876814991235733,
                        "yaw": -80.43342590332031
                    }
                },
                "velocity": {
                    "x": 0.9855644702911377,
                    "y": -5.951791286468506,
                    "z": 0.005607375875115395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.942903518676758,
                "transform": {
                    "location": {
                        "x": 966.6770629882812,
                        "y": 3583.255615234375,
                        "z": 370.5506286621094
                    },
                    "rotation": {
                        "roll": 0.0008459063246846199,
                        "pitch": 0.6027231812477112,
                        "yaw": -170.6815185546875
                    }
                },
                "velocity": {
                    "x": -6.850899696350098,
                    "y": -1.1242399215698242,
                    "z": 0.07190419733524323
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.856784820556641,
                "transform": {
                    "location": {
                        "x": 943.7040405273438,
                        "y": 3484.8359375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": -0.02813720703125,
                        "pitch": -0.251555860042572,
                        "yaw": 99.31753540039062
                    }
                },
                "velocity": {
                    "x": -0.9738879203796387,
                    "y": 5.775140285491943,
                    "z": 0.03500204160809517
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.5862426757812,
                        "y": 3456.342529296875,
                        "z": 370.5644836425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.454866409301758,
                "transform": {
                    "location": {
                        "x": 943.5330810546875,
                        "y": 3527.46240234375,
                        "z": 370.8202209472656
                    },
                    "rotation": {
                        "roll": -0.0010986302513629198,
                        "pitch": -0.14870686829090118,
                        "yaw": -80.85044860839844
                    }
                },
                "velocity": {
                    "x": 2.137331008911133,
                    "y": -13.283979415893555,
                    "z": -0.03377017751336098
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.615991592407227,
                "transform": {
                    "location": {
                        "x": 950.5170288085938,
                        "y": 3504.5244140625,
                        "z": 370.7533874511719
                    },
                    "rotation": {
                        "roll": -3.052243482670747e-05,
                        "pitch": -0.07983807474374771,
                        "yaw": -80.85360717773438
                    }
                },
                "velocity": {
                    "x": 1.528545618057251,
                    "y": -9.493680000305176,
                    "z": -0.02979099750518799
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041153907775879,
                "transform": {
                    "location": {
                        "x": 949.9727172851562,
                        "y": 3487.45361328125,
                        "z": 370.6937561035156
                    },
                    "rotation": {
                        "roll": 0.0006762268021702766,
                        "pitch": -0.2149733603000641,
                        "yaw": -80.85813903808594
                    }
                },
                "velocity": {
                    "x": 1.277577519416809,
                    "y": -7.938959121704102,
                    "z": -0.02966516837477684
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.230224609375,
                        "y": 3480.947998046875,
                        "z": 370.6663513183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.1915283203125,
                        "y": 3471.221435546875,
                        "z": 370.6291809082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031624794006348,
                "transform": {
                    "location": {
                        "x": 943.3380126953125,
                        "y": 3506.966552734375,
                        "z": 370.79498291015625
                    },
                    "rotation": {
                        "roll": -0.0009765677386894822,
                        "pitch": 0.16829584538936615,
                        "yaw": 99.14677429199219
                    }
                },
                "velocity": {
                    "x": -1.2769818305969238,
                    "y": 7.929423809051514,
                    "z": 0.023676374927163124
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.9353718757629395,
                "transform": {
                    "location": {
                        "x": 939.993408203125,
                        "y": 3527.751708984375,
                        "z": 370.8185729980469
                    },
                    "rotation": {
                        "roll": 0.0007603205158375204,
                        "pitch": -0.12289558351039886,
                        "yaw": 99.13660430908203
                    }
                },
                "velocity": {
                    "x": -0.9427959322929382,
                    "y": 5.859992980957031,
                    "z": 0.01613294519484043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.663851737976074,
                "transform": {
                    "location": {
                        "x": 930.6666870117188,
                        "y": 3565.251220703125,
                        "z": 370.8735046386719
                    },
                    "rotation": {
                        "roll": 0.0013244417496025562,
                        "pitch": 0.04586471617221832,
                        "yaw": 99.1653060913086
                    }
                },
                "velocity": {
                    "x": -0.742692232131958,
                    "y": 4.60433292388916,
                    "z": 0.006373844109475613
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029321670532227,
                "transform": {
                    "location": {
                        "x": 909.7123413085938,
                        "y": 3574.303466796875,
                        "z": 371.0967102050781
                    },
                    "rotation": {
                        "roll": 0.0009683739626780152,
                        "pitch": 0.43517181277275085,
                        "yaw": -170.77598571777344
                    }
                },
                "velocity": {
                    "x": -7.925088405609131,
                    "y": -1.2881572246551514,
                    "z": 0.06020586937665939
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.586892127990723,
                "transform": {
                    "location": {
                        "x": 946.7731323242188,
                        "y": 3486.037109375,
                        "z": 370.68878173828125
                    },
                    "rotation": {
                        "roll": -0.002014177618548274,
                        "pitch": 0.19949615001678467,
                        "yaw": 99.6554183959961
                    }
                },
                "velocity": {
                    "x": -1.1034274101257324,
                    "y": 6.493764877319336,
                    "z": 0.02469589188694954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.275102138519287,
                "transform": {
                    "location": {
                        "x": 937.3373413085938,
                        "y": 3544.254638671875,
                        "z": 370.8482666015625
                    },
                    "rotation": {
                        "roll": 0.0036747187841683626,
                        "pitch": 0.17495527863502502,
                        "yaw": 99.13089752197266
                    }
                },
                "velocity": {
                    "x": -0.8369908928871155,
                    "y": 5.208269119262695,
                    "z": 0.009008264169096947
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.318878650665283,
                "transform": {
                    "location": {
                        "x": 934.5982055664062,
                        "y": 3561.26904296875,
                        "z": 370.8737487792969
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.021487774327397346,
                        "yaw": 99.13196563720703
                    }
                },
                "velocity": {
                    "x": -0.8452963829040527,
                    "y": 5.251277923583984,
                    "z": 0.005258149933069944
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1631380319595337,
        "expert_target_speed": 5.734114531828085,
        "target_point": [
            16.221885240731915,
            0.5817560539220841
        ],
        "target_point_next": [
            34.7134725836133,
            1.1366282059595907
        ]
    },
    "690": {
        "acceleration": [
            0.3493666648864746,
            -2.280254364013672,
            0.001559453085064888
        ],
        "angular_velocity": [
            -0.6380980610847473,
            -0.13996386528015137,
            -0.4816022217273712
        ],
        "forward_vector": [
            -0.12966740131378174,
            0.9915575385093689,
            -0.00015771387552376837
        ],
        "right_vector": [
            -0.9915575385093689,
            -0.12966740131378174,
            4.474110755836591e-05
        ],
        "location": [
            932.57568359375,
            3554.85498046875,
            370.8643798828125
        ],
        "rotation": [
            -0.0025634765625,
            -0.009036339819431305,
            97.45037078857422
        ],
        "velocity": [
            -0.6521352529525757,
            4.992981910705566,
            0.0059575652703642845
        ],
        "speed": 5.035389632270429,
        "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": 11.72071361541748,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                930.4835205078125,
                3566.387451171875,
                370.87457275390625
            ],
            "velocity": [
                -0.7232980728149414,
                4.485400676727295,
                0.005439319647848606
            ],
            "speed_kmh": 16.356051956135914,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.9898071289062,
                        "y": 3470.662353515625,
                        "z": 370.69342041015625
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.26743483543396,
                "transform": {
                    "location": {
                        "x": 986.0935668945312,
                        "y": 3586.510009765625,
                        "z": 370.3128967285156
                    },
                    "rotation": {
                        "roll": 0.003191693453118205,
                        "pitch": 0.7692431807518005,
                        "yaw": -170.58363342285156
                    }
                },
                "velocity": {
                    "x": -1.2483166456222534,
                    "y": -0.21734490990638733,
                    "z": 0.02929122932255268
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.720703125,
                        "y": 3443.07958984375,
                        "z": 370.4990234375
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.943258762359619,
                "transform": {
                    "location": {
                        "x": 931.4864501953125,
                        "y": 3622.169189453125,
                        "z": 370.8785095214844
                    },
                    "rotation": {
                        "roll": -0.004241943359375,
                        "pitch": 0.03374113142490387,
                        "yaw": -80.70231628417969
                    }
                },
                "velocity": {
                    "x": 0.9877378344535828,
                    "y": -5.860567569732666,
                    "z": -0.02103005349636078
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.547000885009766,
                "transform": {
                    "location": {
                        "x": 928.297607421875,
                        "y": 3621.551513671875,
                        "z": 370.8861999511719
                    },
                    "rotation": {
                        "roll": -0.028564445674419403,
                        "pitch": 0.0074927168898284435,
                        "yaw": -80.6125259399414
                    }
                },
                "velocity": {
                    "x": 0.9299388527870178,
                    "y": -5.468470573425293,
                    "z": 0.01624140702188015
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.834142684936523,
                "transform": {
                    "location": {
                        "x": 934.06982421875,
                        "y": 3606.54638671875,
                        "z": 370.8860168457031
                    },
                    "rotation": {
                        "roll": 0.0017739657778292894,
                        "pitch": 0.060180794447660446,
                        "yaw": -80.49925231933594
                    }
                },
                "velocity": {
                    "x": 1.119152545928955,
                    "y": -6.74188232421875,
                    "z": 0.005645007826387882
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.858333110809326,
                "transform": {
                    "location": {
                        "x": 930.8363037109375,
                        "y": 3606.183349609375,
                        "z": 370.89739990234375
                    },
                    "rotation": {
                        "roll": -0.0024108875077217817,
                        "pitch": -0.029205886647105217,
                        "yaw": -80.54190826416016
                    }
                },
                "velocity": {
                    "x": 1.1170283555984497,
                    "y": -6.76675271987915,
                    "z": 0.005711889360100031
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.598910331726074,
                "transform": {
                    "location": {
                        "x": 964.9984130859375,
                        "y": 3582.980224609375,
                        "z": 370.5685119628906
                    },
                    "rotation": {
                        "roll": 0.0009213979355990887,
                        "pitch": 0.59413081407547,
                        "yaw": -170.70455932617188
                    }
                },
                "velocity": {
                    "x": -6.511905193328857,
                    "y": -1.065736174583435,
                    "z": 0.07013141363859177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.084850311279297,
                "transform": {
                    "location": {
                        "x": 943.4546508789062,
                        "y": 3486.31298828125,
                        "z": 370.69775390625
                    },
                    "rotation": {
                        "roll": -0.013610845431685448,
                        "pitch": 0.18699008226394653,
                        "yaw": 99.57500457763672
                    }
                },
                "velocity": {
                    "x": -1.0288233757019043,
                    "y": 5.997198581695557,
                    "z": 0.023036116734147072
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.347412109375,
                        "y": 3457.826416015625,
                        "z": 370.5714111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.018006281927227974,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8878479003906
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 5.2403858717298135e-05,
                    "y": 3.3054686809919076e-06,
                    "z": -0.018006205558776855
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453178405761719,
                "transform": {
                    "location": {
                        "x": 944.067626953125,
                        "y": 3524.141845703125,
                        "z": 370.8115539550781
                    },
                    "rotation": {
                        "roll": -0.0005188025534152985,
                        "pitch": -0.14544203877449036,
                        "yaw": -80.86244201660156
                    }
                },
                "velocity": {
                    "x": 2.136946201324463,
                    "y": -13.282332420349121,
                    "z": -0.033686671406030655
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.103863716125488,
                "transform": {
                    "location": {
                        "x": 950.90625,
                        "y": 3502.10595703125,
                        "z": 370.74664306640625
                    },
                    "rotation": {
                        "roll": 6.670149765852784e-09,
                        "pitch": -0.20734404027462006,
                        "yaw": -80.85746765136719
                    }
                },
                "velocity": {
                    "x": 1.605347752571106,
                    "y": -9.975468635559082,
                    "z": -0.03084527514874935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.248779296875,
                        "y": 3485.43359375,
                        "z": 370.6858825683594
                    },
                    "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4842,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.5489501953125,
                        "y": 3478.888916015625,
                        "z": 370.65728759765625
                    },
                    "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.9554443359375,
                        "y": 3472.68798828125,
                        "z": 370.63531494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0227632522583,
                "transform": {
                    "location": {
                        "x": 943.0189819335938,
                        "y": 3508.947509765625,
                        "z": 370.8009033203125
                    },
                    "rotation": {
                        "roll": -6.103173291194253e-05,
                        "pitch": 0.16750355064868927,
                        "yaw": 99.15274047851562
                    }
                },
                "velocity": {
                    "x": -1.2757562398910522,
                    "y": 7.92064905166626,
                    "z": 0.022157534956932068
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6248810291290283,
                "transform": {
                    "location": {
                        "x": 939.837646484375,
                        "y": 3528.72119140625,
                        "z": 370.8207092285156
                    },
                    "rotation": {
                        "roll": 0.0003659658250398934,
                        "pitch": -0.2599501609802246,
                        "yaw": 99.12666320800781
                    }
                },
                "velocity": {
                    "x": -0.5756620764732361,
                    "y": 3.578866481781006,
                    "z": 0.009531678631901741
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.5433478355407715,
                "transform": {
                    "location": {
                        "x": 930.4835205078125,
                        "y": 3566.387451171875,
                        "z": 370.87457275390625
                    },
                    "rotation": {
                        "roll": 0.00031509590917266905,
                        "pitch": 0.04887000098824501,
                        "yaw": 99.16132354736328
                    }
                },
                "velocity": {
                    "x": -0.7232980728149414,
                    "y": 4.485400676727295,
                    "z": 0.005439319647848606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028799057006836,
                "transform": {
                    "location": {
                        "x": 907.7310180664062,
                        "y": 3573.982177734375,
                        "z": 371.11181640625
                    },
                    "rotation": {
                        "roll": -0.0006713845068588853,
                        "pitch": 0.422699898481369,
                        "yaw": -170.81805419921875
                    }
                },
                "velocity": {
                    "x": -7.925759315490723,
                    "y": -1.2807717323303223,
                    "z": 0.059781741350889206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.672174453735352,
                "transform": {
                    "location": {
                        "x": 946.5202026367188,
                        "y": 3487.5263671875,
                        "z": 370.6943664550781
                    },
                    "rotation": {
                        "roll": 0.00208450760692358,
                        "pitch": 0.09357358515262604,
                        "yaw": 99.6461410522461
                    }
                },
                "velocity": {
                    "x": -0.9494972229003906,
                    "y": 5.592095375061035,
                    "z": 0.02202829346060753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.83534574508667,
                "transform": {
                    "location": {
                        "x": 937.1260986328125,
                        "y": 3545.568603515625,
                        "z": 370.85015869140625
                    },
                    "rotation": {
                        "roll": 0.0005657101864926517,
                        "pitch": 0.24366699159145355,
                        "yaw": 99.13495635986328
                    }
                },
                "velocity": {
                    "x": -0.9274370074272156,
                    "y": 5.761166095733643,
                    "z": 0.0094230268150568
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.12729024887085,
                "transform": {
                    "location": {
                        "x": 934.3907470703125,
                        "y": 3562.556884765625,
                        "z": 370.8749084472656
                    },
                    "rotation": {
                        "roll": 0.00022543544764630497,
                        "pitch": 0.021617546677589417,
                        "yaw": 99.17176055908203
                    }
                },
                "velocity": {
                    "x": -0.8147928714752197,
                    "y": 5.062133312225342,
                    "z": 0.005046863574534655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20352673530578613,
        "expert_target_speed": 5.41925637952149,
        "target_point": [
            14.91075797478525,
            0.5739658430822536
        ],
        "target_point_next": [
            33.40260141851613,
            1.1202364876031758
        ]
    },
    "695": {
        "acceleration": [
            0.14961719512939453,
            -1.0390853881835938,
            0.0028348900377750397
        ],
        "angular_velocity": [
            -0.0017815519822761416,
            0.009392086416482925,
            -0.17072243988513947
        ],
        "forward_vector": [
            -0.12901471555233002,
            0.9916412234306335,
            -0.0016905060037970543
        ],
        "right_vector": [
            -0.9916426539421082,
            -0.1290149986743927,
            -6.435874820454046e-05
        ],
        "location": [
            932.421875,
            3556.041259765625,
            370.8656921386719
        ],
        "rotation": [
            0.0036874902434647083,
            -0.0968589037656784,
            97.41267395019531
        ],
        "velocity": [
            -0.5885766744613647,
            4.557081699371338,
            0.005796584766358137
        ],
        "speed": 4.594933744513098,
        "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": 11.639934539794922,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                930.3062133789062,
                3567.4873046875,
                370.8756103515625
            ],
            "velocity": [
                -0.696283221244812,
                4.320278644561768,
                0.004024371970444918
            ],
            "speed_kmh": 15.753706159501517,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.7551879882812,
                        "y": 3472.12060546875,
                        "z": 370.6679992675781
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.369626998901367,
                "transform": {
                    "location": {
                        "x": 985.6583251953125,
                        "y": 3586.435546875,
                        "z": 370.3197326660156
                    },
                    "rotation": {
                        "roll": 0.0030561850871890783,
                        "pitch": 0.7974450588226318,
                        "yaw": -170.48643493652344
                    }
                },
                "velocity": {
                    "x": -2.33569598197937,
                    "y": -0.39828357100486755,
                    "z": 0.0320446752011776
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.466552734375,
                        "y": 3444.658935546875,
                        "z": 370.5053405761719
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.694769859313965,
                "transform": {
                    "location": {
                        "x": 931.7279663085938,
                        "y": 3620.736083984375,
                        "z": 370.8765869140625
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": 0.03692400082945824,
                        "yaw": -80.4081802368164
                    }
                },
                "velocity": {
                    "x": 0.9643169045448303,
                    "y": -5.61253023147583,
                    "z": 0.0011655520647764206
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.7855753898620605,
                "transform": {
                    "location": {
                        "x": 928.5349731445312,
                        "y": 3620.1533203125,
                        "z": 370.888427734375
                    },
                    "rotation": {
                        "roll": -0.009643551893532276,
                        "pitch": 0.040441546589136124,
                        "yaw": -80.3808822631836
                    }
                },
                "velocity": {
                    "x": 0.9815889596939087,
                    "y": -5.701696872711182,
                    "z": 0.004400873091071844
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.246335506439209,
                "transform": {
                    "location": {
                        "x": 934.3396606445312,
                        "y": 3604.923095703125,
                        "z": 370.887451171875
                    },
                    "rotation": {
                        "roll": 0.001015789806842804,
                        "pitch": 0.02865264192223549,
                        "yaw": -80.61540222167969
                    }
                },
                "velocity": {
                    "x": 1.0179388523101807,
                    "y": -6.162829875946045,
                    "z": 0.0059540364891290665
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.099001884460449,
                "transform": {
                    "location": {
                        "x": 931.1016235351562,
                        "y": 3604.577392578125,
                        "z": 370.8976135253906
                    },
                    "rotation": {
                        "roll": -0.0013427737867459655,
                        "pitch": 0.08112215250730515,
                        "yaw": -80.60089874267578
                    }
                },
                "velocity": {
                    "x": 0.9916805028915405,
                    "y": -6.0178375244140625,
                    "z": 0.005392627790570259
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.239576816558838,
                "transform": {
                    "location": {
                        "x": 963.4268798828125,
                        "y": 3582.72314453125,
                        "z": 370.5852966308594
                    },
                    "rotation": {
                        "roll": 0.0010172786423936486,
                        "pitch": 0.5909684300422668,
                        "yaw": -170.72012329101562
                    }
                },
                "velocity": {
                    "x": -6.157648086547852,
                    "y": -1.0056366920471191,
                    "z": 0.0662156492471695
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.463331699371338,
                "transform": {
                    "location": {
                        "x": 943.227294921875,
                        "y": 3487.639892578125,
                        "z": 370.7037048339844
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.005218264181166887,
                        "yaw": 99.69792175292969
                    }
                },
                "velocity": {
                    "x": -0.7601273059844971,
                    "y": 4.398107528686523,
                    "z": 0.01363965030759573
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.09326171875,
                        "y": 3459.405517578125,
                        "z": 370.5787353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0054463669657707214,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8845520019531
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -4.585827264236286e-05,
                    "y": -3.6552967230818467e-06,
                    "z": -0.005446172785013914
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.03019295632839203,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.87811279296875
                    },
                    "rotation": {
                        "roll": 0.0002188345679314807,
                        "pitch": -0.03805098310112953,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.9744454877800308e-05,
                    "y": -1.4436798664974049e-05,
                    "z": -0.030192937701940536
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453095436096191,
                "transform": {
                    "location": {
                        "x": 944.6021118164062,
                        "y": 3520.82177734375,
                        "z": 370.8028869628906
                    },
                    "rotation": {
                        "roll": -0.00012206340034026653,
                        "pitch": -0.15731291472911835,
                        "yaw": -80.84453582763672
                    }
                },
                "velocity": {
                    "x": 2.1385717391967773,
                    "y": -13.281978607177734,
                    "z": -0.03659674897789955
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.403980255126953,
                "transform": {
                    "location": {
                        "x": 951.319091796875,
                        "y": 3499.540283203125,
                        "z": 370.7383117675781
                    },
                    "rotation": {
                        "roll": -6.104528438299894e-05,
                        "pitch": -0.22515717148780823,
                        "yaw": -80.85785675048828
                    }
                },
                "velocity": {
                    "x": 1.6530189514160156,
                    "y": -10.271769523620605,
                    "z": -0.0328407846391201
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.5313720703125,
                        "y": 3483.369873046875,
                        "z": 370.6775817871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7116088867188,
                        "y": 3474.2041015625,
                        "z": 370.6417236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028621673583984,
                "transform": {
                    "location": {
                        "x": 942.699951171875,
                        "y": 3510.928466796875,
                        "z": 370.8065185546875
                    },
                    "rotation": {
                        "roll": 0.0009036162518896163,
                        "pitch": 0.16225796937942505,
                        "yaw": 99.14328002929688
                    }
                },
                "velocity": {
                    "x": -1.2761445045471191,
                    "y": 7.926523685455322,
                    "z": 0.02127639763057232
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.9712748527526855,
                "transform": {
                    "location": {
                        "x": 939.6657104492188,
                        "y": 3529.791259765625,
                        "z": 370.8236999511719
                    },
                    "rotation": {
                        "roll": 0.00016775492986198515,
                        "pitch": 0.2624500095844269,
                        "yaw": 99.12840270996094
                    }
                },
                "velocity": {
                    "x": -0.7888199687004089,
                    "y": 4.9082770347595215,
                    "z": 0.012451286427676678
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.3760294914245605,
                "transform": {
                    "location": {
                        "x": 930.3062133789062,
                        "y": 3567.4873046875,
                        "z": 370.8756103515625
                    },
                    "rotation": {
                        "roll": -0.0007324229227378964,
                        "pitch": 0.04856264218688011,
                        "yaw": 99.15863037109375
                    }
                },
                "velocity": {
                    "x": -0.696283221244812,
                    "y": 4.320278644561768,
                    "z": 0.004024371970444918
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028167724609375,
                "transform": {
                    "location": {
                        "x": 905.749755859375,
                        "y": 3573.661865234375,
                        "z": 371.1266174316406
                    },
                    "rotation": {
                        "roll": 0.0003665188851300627,
                        "pitch": 0.42121773958206177,
                        "yaw": -170.78810119628906
                    }
                },
                "velocity": {
                    "x": -7.924826622009277,
                    "y": -1.2825502157211304,
                    "z": 0.060525912791490555
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.87404727935791,
                "transform": {
                    "location": {
                        "x": 946.279052734375,
                        "y": 3488.947509765625,
                        "z": 370.6997985839844
                    },
                    "rotation": {
                        "roll": 0.0012849178165197372,
                        "pitch": 0.2083480805158615,
                        "yaw": 99.6337661743164
                    }
                },
                "velocity": {
                    "x": -0.9828858971595764,
                    "y": 5.7911906242370605,
                    "z": 0.021949462592601776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.400228977203369,
                "transform": {
                    "location": {
                        "x": 936.8609008789062,
                        "y": 3547.216552734375,
                        "z": 370.8514404296875
                    },
                    "rotation": {
                        "roll": 5.235005301074125e-05,
                        "pitch": 0.6191360950469971,
                        "yaw": 99.13533782958984
                    }
                },
                "velocity": {
                    "x": -1.1752643585205078,
                    "y": 7.306300640106201,
                    "z": 0.010509462095797062
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.029063701629639,
                "transform": {
                    "location": {
                        "x": 934.194091796875,
                        "y": 3563.80810546875,
                        "z": 370.87603759765625
                    },
                    "rotation": {
                        "roll": 0.015376806259155273,
                        "pitch": 0.04132947325706482,
                        "yaw": 98.93192291259766
                    }
                },
                "velocity": {
                    "x": -0.7605457901954651,
                    "y": 4.971219539642334,
                    "z": 0.005119857843965292
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2420210987329483,
        "expert_target_speed": 5.03008175425495,
        "target_point": [
            13.714168304841095,
            0.5843023889869687
        ],
        "target_point_next": [
            32.205648279661936,
            1.142741199706438
        ]
    },
    "700": {
        "acceleration": [
            0.007888078689575195,
            0.05770683288574219,
            0.0005725864320993423
        ],
        "angular_velocity": [
            0.36278441548347473,
            0.05447407066822052,
            -0.30338430404663086
        ],
        "forward_vector": [
            -0.12826620042324066,
            0.9917396903038025,
            -0.0003557204909157008
        ],
        "right_vector": [
            -0.9917397499084473,
            -0.12826623022556305,
            -6.167528044898063e-05
        ],
        "location": [
            932.2762451171875,
            3557.1708984375,
            370.8668212890625
        ],
        "rotation": [
            0.003533733543008566,
            -0.02038128301501274,
            97.36941528320312
        ],
        "velocity": [
            -0.5792669653892517,
            4.511824131011963,
            0.005890235770493746
        ],
        "speed": 4.548857791399191,
        "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": 11.57736587524414,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                930.1353149414062,
                3568.548583984375,
                370.8765869140625
            ],
            "velocity": [
                -0.6730725765228271,
                4.177923202514648,
                0.0032488631550222635
            ],
            "speed_kmh": 15.234458006997793,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.56201171875,
                        "y": 3473.321533203125,
                        "z": 370.6470642089844
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.8990652561187744,
                "transform": {
                    "location": {
                        "x": 984.871826171875,
                        "y": 3586.30078125,
                        "z": 370.3298645019531
                    },
                    "rotation": {
                        "roll": 0.004659674596041441,
                        "pitch": 0.8324155807495117,
                        "yaw": -170.36764526367188
                    }
                },
                "velocity": {
                    "x": -3.84195613861084,
                    "y": -0.6629999279975891,
                    "z": 0.05015147104859352
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.222412109375,
                        "y": 3446.17529296875,
                        "z": 370.5132751464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.915081977844238,
                "transform": {
                    "location": {
                        "x": 931.9733276367188,
                        "y": 3619.3046875,
                        "z": 370.87744140625
                    },
                    "rotation": {
                        "roll": -0.001647948520258069,
                        "pitch": 0.03876814991235733,
                        "yaw": -80.20533752441406
                    }
                },
                "velocity": {
                    "x": 1.0111526250839233,
                    "y": -5.828014373779297,
                    "z": 0.003468112787231803
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.528039455413818,
                "transform": {
                    "location": {
                        "x": 928.7623291015625,
                        "y": 3618.83251953125,
                        "z": 370.89007568359375
                    },
                    "rotation": {
                        "roll": 0.0010284793097525835,
                        "pitch": -0.12118121236562729,
                        "yaw": -80.32115936279297
                    }
                },
                "velocity": {
                    "x": 0.7702956199645996,
                    "y": -4.462038516998291,
                    "z": -0.00016590117593295872
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.803153991699219,
                "transform": {
                    "location": {
                        "x": 934.5821533203125,
                        "y": 3603.4541015625,
                        "z": 370.8884582519531
                    },
                    "rotation": {
                        "roll": 0.0014624984469264746,
                        "pitch": 0.021009661257267,
                        "yaw": -80.66838073730469
                    }
                },
                "velocity": {
                    "x": 0.9385055899620056,
                    "y": -5.726759433746338,
                    "z": 0.005280999932438135
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.797164440155029,
                "transform": {
                    "location": {
                        "x": 931.339599609375,
                        "y": 3603.133056640625,
                        "z": 370.89862060546875
                    },
                    "rotation": {
                        "roll": -0.002349857473745942,
                        "pitch": 0.08092407882213593,
                        "yaw": -80.63509368896484
                    }
                },
                "velocity": {
                    "x": 0.9331148862838745,
                    "y": -5.721571922302246,
                    "z": 0.004823360126465559
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.258068561553955,
                "transform": {
                    "location": {
                        "x": 961.8817749023438,
                        "y": 3582.470947265625,
                        "z": 370.6012878417969
                    },
                    "rotation": {
                        "roll": -0.00018310738960281014,
                        "pitch": 0.5879563093185425,
                        "yaw": -170.72801208496094
                    }
                },
                "velocity": {
                    "x": -6.175955772399902,
                    "y": -1.008395791053772,
                    "z": 0.06428611278533936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.1745429039001465,
                "transform": {
                    "location": {
                        "x": 943.0308227539062,
                        "y": 3488.78271484375,
                        "z": 370.7062683105469
                    },
                    "rotation": {
                        "roll": 0.009977616369724274,
                        "pitch": 0.17078204452991486,
                        "yaw": 99.74784088134766
                    }
                },
                "velocity": {
                    "x": -0.8613775968551636,
                    "y": 5.102302551269531,
                    "z": 0.020744629204273224
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8533935546875,
                        "y": 3460.895751953125,
                        "z": 370.5852355957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0017954587237909436,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8848876953125
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -5.837597927893512e-05,
                    "y": -1.5163142279561725e-06,
                    "z": 0.0017945087747648358
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0027710958383977413,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8750305175781
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": -0.03820807486772537,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 8.014789273147471e-06,
                    "y": 7.5522342513068e-07,
                    "z": -0.0027710841968655586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453356742858887,
                "transform": {
                    "location": {
                        "x": 945.1368408203125,
                        "y": 3517.50146484375,
                        "z": 370.79339599609375
                    },
                    "rotation": {
                        "roll": 0.0001823213679017499,
                        "pitch": -0.1586926132440567,
                        "yaw": -80.85941314697266
                    }
                },
                "velocity": {
                    "x": 2.1389241218566895,
                    "y": -13.282184600830078,
                    "z": -0.03711969777941704
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.64012336730957,
                "transform": {
                    "location": {
                        "x": 951.73388671875,
                        "y": 3496.963623046875,
                        "z": 370.72955322265625
                    },
                    "rotation": {
                        "roll": 0.00014534922956954688,
                        "pitch": -0.20737136900424957,
                        "yaw": -80.85340881347656
                    }
                },
                "velocity": {
                    "x": 1.691346287727356,
                    "y": -10.504782676696777,
                    "z": -0.033567044883966446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4843,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.8607788085938,
                        "y": 3481.3125,
                        "z": 370.66912841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.4674682617188,
                        "y": 3475.720947265625,
                        "z": 370.6480712890625
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02760124206543,
                "transform": {
                    "location": {
                        "x": 942.3810424804688,
                        "y": 3512.90966796875,
                        "z": 370.8121337890625
                    },
                    "rotation": {
                        "roll": -0.0002441468241158873,
                        "pitch": 0.1575314700603485,
                        "yaw": 99.14556121826172
                    }
                },
                "velocity": {
                    "x": -1.2754347324371338,
                    "y": 7.925602436065674,
                    "z": 0.021511869505047798
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.4617719650268555,
                "transform": {
                    "location": {
                        "x": 939.4549560546875,
                        "y": 3531.10107421875,
                        "z": 370.8271789550781
                    },
                    "rotation": {
                        "roll": -0.0005798510392196476,
                        "pitch": 0.24633075296878815,
                        "yaw": 99.0877914428711
                    }
                },
                "velocity": {
                    "x": -0.8673304319381714,
                    "y": 5.392449378967285,
                    "z": 0.013371753506362438
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.2317938804626465,
                "transform": {
                    "location": {
                        "x": 930.1353149414062,
                        "y": 3568.548583984375,
                        "z": 370.8765869140625
                    },
                    "rotation": {
                        "roll": 0.000968959997408092,
                        "pitch": 0.04804354906082153,
                        "yaw": 99.15087127685547
                    }
                },
                "velocity": {
                    "x": -0.6730725765228271,
                    "y": 4.177923202514648,
                    "z": 0.0032488631550222635
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029214859008789,
                "transform": {
                    "location": {
                        "x": 903.768310546875,
                        "y": 3573.341064453125,
                        "z": 371.1414794921875
                    },
                    "rotation": {
                        "roll": -0.0011596650583669543,
                        "pitch": 0.41494762897491455,
                        "yaw": -170.83554077148438
                    }
                },
                "velocity": {
                    "x": -7.9267258644104,
                    "y": -1.2775328159332275,
                    "z": 0.05669396370649338
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.959484577178955,
                "transform": {
                    "location": {
                        "x": 945.99560546875,
                        "y": 3490.642333984375,
                        "z": 370.7062683105469
                    },
                    "rotation": {
                        "roll": 0.010678705759346485,
                        "pitch": 0.46074405312538147,
                        "yaw": 99.49518585205078
                    }
                },
                "velocity": {
                    "x": -1.3042477369308472,
                    "y": 7.851846218109131,
                    "z": 0.02911047823727131
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.3241729736328125,
                "transform": {
                    "location": {
                        "x": 936.5603637695312,
                        "y": 3549.083740234375,
                        "z": 370.8553771972656
                    },
                    "rotation": {
                        "roll": -0.0006408618646673858,
                        "pitch": 0.3422949016094208,
                        "yaw": 99.1437759399414
                    }
                },
                "velocity": {
                    "x": -1.1639078855514526,
                    "y": 7.231093406677246,
                    "z": 0.010802755132317543
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.33837890625,
                "transform": {
                    "location": {
                        "x": 934.0156860351562,
                        "y": 3564.989013671875,
                        "z": 370.8767395019531
                    },
                    "rotation": {
                        "roll": 0.007084694225341082,
                        "pitch": -0.04381566122174263,
                        "yaw": 98.80158996582031
                    }
                },
                "velocity": {
                    "x": -0.6446391940116882,
                    "y": 4.29021692276001,
                    "z": 0.003361930837854743
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27463817596435547,
        "expert_target_speed": 4.9729945765778405,
        "target_point": [
            12.574736069155124,
            0.5951281071674273
        ],
        "target_point_next": [
            31.065788974932904,
            1.167533558089381
        ]
    },
    "705": {
        "acceleration": [
            -0.24161815643310547,
            1.4431381225585938,
            0.017992397770285606
        ],
        "angular_velocity": [
            0.4939878582954407,
            0.12464435398578644,
            0.12299241125583649
        ],
        "forward_vector": [
            -0.127897709608078,
            0.9917865991592407,
            0.0012511011445894837
        ],
        "right_vector": [
            -0.9917873740196228,
            -0.12789788842201233,
            5.592626621364616e-05
        ],
        "location": [
            932.1293334960938,
            3558.3125,
            370.86767578125
        ],
        "rotation": [
            -0.0032043415121734142,
            0.07168283313512802,
            97.34812927246094
        ],
        "velocity": [
            -0.6053968667984009,
            4.679563045501709,
            0.005785178858786821
        ],
        "speed": 4.718560761837718,
        "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": 66.38052368164062,
        "front_vehicle_info": {
            "id": 4847,
            "type": "vehicle.ford.mustang",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.875
            ],
            "velocity": [
                -2.6904739570454694e-05,
                -3.7304264424165012e-06,
                0.0018406936433166265
            ],
            "speed_kmh": 0.006627218547061948,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.3685913085938,
                        "y": 3474.5224609375,
                        "z": 370.6509704589844
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.679240703582764,
                "transform": {
                    "location": {
                        "x": 983.793701171875,
                        "y": 3586.113037109375,
                        "z": 370.3440856933594
                    },
                    "rotation": {
                        "roll": 0.003888372564688325,
                        "pitch": 0.8088241219520569,
                        "yaw": -170.48069763183594
                    }
                },
                "velocity": {
                    "x": -4.610541343688965,
                    "y": -0.7966796159744263,
                    "z": 0.05918477103114128
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.9104614257812,
                        "y": 3448.11376953125,
                        "z": 370.5234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.422642707824707,
                "transform": {
                    "location": {
                        "x": 932.2142944335938,
                        "y": 3617.90576171875,
                        "z": 370.8785400390625
                    },
                    "rotation": {
                        "roll": 0.001995293190702796,
                        "pitch": 0.02867996320128441,
                        "yaw": -80.17108917236328
                    }
                },
                "velocity": {
                    "x": 0.9111098051071167,
                    "y": -5.345551490783691,
                    "z": 0.0031222247052937746
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.7695512771606445,
                "transform": {
                    "location": {
                        "x": 928.9464111328125,
                        "y": 3617.7529296875,
                        "z": 370.8902893066406
                    },
                    "rotation": {
                        "roll": 0.01600692979991436,
                        "pitch": -0.09213241934776306,
                        "yaw": -80.33856201171875
                    }
                },
                "velocity": {
                    "x": 0.7900970578193665,
                    "y": -4.703653335571289,
                    "z": 0.0028203867841511965
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.956666946411133,
                "transform": {
                    "location": {
                        "x": 934.8195190429688,
                        "y": 3602.00341796875,
                        "z": 370.8893127441406
                    },
                    "rotation": {
                        "roll": 0.0009496615966781974,
                        "pitch": 0.03852909430861473,
                        "yaw": -80.72671508789062
                    }
                },
                "velocity": {
                    "x": 0.9572923183441162,
                    "y": -5.8792405128479,
                    "z": 0.0022025490179657936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.996105670928955,
                "transform": {
                    "location": {
                        "x": 931.578857421875,
                        "y": 3601.66748046875,
                        "z": 370.9001159667969
                    },
                    "rotation": {
                        "roll": -0.0013732907827943563,
                        "pitch": 0.019384074956178665,
                        "yaw": -80.70174407958984
                    }
                },
                "velocity": {
                    "x": 0.9636269211769104,
                    "y": -5.918165683746338,
                    "z": 0.004249143414199352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.883216381072998,
                "transform": {
                    "location": {
                        "x": 960.3820190429688,
                        "y": 3582.225830078125,
                        "z": 370.6169738769531
                    },
                    "rotation": {
                        "roll": 0.00012321611575316638,
                        "pitch": 0.5612093210220337,
                        "yaw": -170.73135375976562
                    }
                },
                "velocity": {
                    "x": -5.806090354919434,
                    "y": -0.9475985765457153,
                    "z": 0.06003021076321602
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.778074741363525,
                "transform": {
                    "location": {
                        "x": 942.810546875,
                        "y": 3490.087158203125,
                        "z": 370.70947265625
                    },
                    "rotation": {
                        "roll": 0.016193317249417305,
                        "pitch": 0.41296687722206116,
                        "yaw": 99.59463500976562
                    }
                },
                "velocity": {
                    "x": -0.9517585635185242,
                    "y": 5.699108600616455,
                    "z": 0.021541213616728783
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.531982421875,
                        "y": 3462.893310546875,
                        "z": 370.5939025878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002131159562850371,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 1.3857809790351894e-05,
                    "y": 3.330642357468605e-06,
                    "z": 0.00021263884264044464
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0018408941105008125,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.875
                    },
                    "rotation": {
                        "roll": 0.00015615890151821077,
                        "pitch": -0.03805098310112953,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.6904739570454694e-05,
                    "y": -3.7304264424165012e-06,
                    "z": 0.0018406936433166265
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453362464904785,
                "transform": {
                    "location": {
                        "x": 945.6714477539062,
                        "y": 3514.18115234375,
                        "z": 370.78411865234375
                    },
                    "rotation": {
                        "roll": -0.0003662168746814132,
                        "pitch": -0.15622690320014954,
                        "yaw": -80.84288787841797
                    }
                },
                "velocity": {
                    "x": 2.1389997005462646,
                    "y": -13.28217887878418,
                    "z": -0.03695341572165489
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.377948760986328,
                "transform": {
                    "location": {
                        "x": 952.1712036132812,
                        "y": 3494.246826171875,
                        "z": 370.7206115722656
                    },
                    "rotation": {
                        "roll": 0.0006926050409674644,
                        "pitch": -0.2724016010761261,
                        "yaw": -80.85734558105469
                    }
                },
                "velocity": {
                    "x": 1.8078815937042236,
                    "y": -11.233325958251953,
                    "z": -0.0407705157995224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.1405029296875,
                        "y": 3477.75244140625,
                        "z": 370.6565856933594
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026145935058594,
                "transform": {
                    "location": {
                        "x": 942.0621948242188,
                        "y": 3514.89111328125,
                        "z": 370.8175964355469
                    },
                    "rotation": {
                        "roll": -0.0007629430037923157,
                        "pitch": 0.15789347887039185,
                        "yaw": 99.1395492553711
                    }
                },
                "velocity": {
                    "x": -1.2751965522766113,
                    "y": 7.924169063568115,
                    "z": 0.020948972553014755
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.770786285400391,
                "transform": {
                    "location": {
                        "x": 939.2249755859375,
                        "y": 3532.532470703125,
                        "z": 370.8305358886719
                    },
                    "rotation": {
                        "roll": -0.0014038329245522618,
                        "pitch": 0.368679940700531,
                        "yaw": 99.12986755371094
                    }
                },
                "velocity": {
                    "x": -1.0756025314331055,
                    "y": 6.684788703918457,
                    "z": 0.015023898333311081
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.0877275466918945,
                "transform": {
                    "location": {
                        "x": 929.9700317382812,
                        "y": 3569.57470703125,
                        "z": 370.8775329589844
                    },
                    "rotation": {
                        "roll": -0.0011596684344112873,
                        "pitch": 0.047524452209472656,
                        "yaw": 99.15447998046875
                    }
                },
                "velocity": {
                    "x": -0.650046169757843,
                    "y": 4.035708904266357,
                    "z": 0.0028279589023441076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02858829498291,
                "transform": {
                    "location": {
                        "x": 901.7866821289062,
                        "y": 3573.022216796875,
                        "z": 371.15576171875
                    },
                    "rotation": {
                        "roll": 0.00030160293681547046,
                        "pitch": 0.4017926752567291,
                        "yaw": -170.81956481933594
                    }
                },
                "velocity": {
                    "x": -7.925974369049072,
                    "y": -1.2782686948776245,
                    "z": 0.05652167275547981
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.247537612915039,
                "transform": {
                    "location": {
                        "x": 945.6575317382812,
                        "y": 3492.686767578125,
                        "z": 370.7135925292969
                    },
                    "rotation": {
                        "roll": 0.006918024737387896,
                        "pitch": 0.3037385046482086,
                        "yaw": 99.31514739990234
                    }
                },
                "velocity": {
                    "x": -1.3425371646881104,
                    "y": 8.13747787475586,
                    "z": 0.03032503090798855
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.891523361206055,
                "transform": {
                    "location": {
                        "x": 936.2925415039062,
                        "y": 3550.746826171875,
                        "z": 370.8595275878906
                    },
                    "rotation": {
                        "roll": -0.0006713898619636893,
                        "pitch": -0.1882604956626892,
                        "yaw": 99.14897918701172
                    }
                },
                "velocity": {
                    "x": -0.9368128180503845,
                    "y": 5.816557884216309,
                    "z": 0.009068012237548828
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.91786527633667,
                "transform": {
                    "location": {
                        "x": 933.8443603515625,
                        "y": 3566.13623046875,
                        "z": 370.87799072265625
                    },
                    "rotation": {
                        "roll": 0.0033516795374453068,
                        "pitch": 0.09418830275535583,
                        "yaw": 98.60399627685547
                    }
                },
                "velocity": {
                    "x": -0.7239109873771667,
                    "y": 4.864290237426758,
                    "z": 0.005772246979176998
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3176388442516327,
        "expert_target_speed": 5.085646839237741,
        "target_point": [
            11.423498759253096,
            0.600096749495304
        ],
        "target_point_next": [
            29.914338042035496,
            1.1793619589022604
        ]
    },
    "710": {
        "acceleration": [
            0.16921520233154297,
            -1.3556385040283203,
            -0.039846792817115784
        ],
        "angular_velocity": [
            -0.49665728211402893,
            -0.06747717410326004,
            -3.0702052116394043
        ],
        "forward_vector": [
            -0.128388911485672,
            0.991719126701355,
            0.003095144871622324
        ],
        "right_vector": [
            -0.9917237758636475,
            -0.1283898502588272,
            0.00010918906627921388
        ],
        "location": [
            931.969482421875,
            3559.543701171875,
            370.8689270019531
        ],
        "rotation": [
            -0.006256102584302425,
            0.17733901739120483,
            97.37654113769531
        ],
        "velocity": [
            -0.6523363590240479,
            5.010538101196289,
            0.0059745595790445805
        ],
        "speed": 5.052824436772414,
        "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": 65.13971710205078,
        "front_vehicle_info": {
            "id": 4847,
            "type": "vehicle.ford.mustang",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8751220703125
            ],
            "velocity": [
                -0.00015339926176238805,
                -2.4513108655810356e-05,
                0.00153321772813797
            ],
            "speed_kmh": 0.005547842752759653,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.1256713867188,
                        "y": 3476.031494140625,
                        "z": 370.6551513671875
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.930071830749512,
                "transform": {
                    "location": {
                        "x": 982.3762817382812,
                        "y": 3585.868896484375,
                        "z": 370.3620300292969
                    },
                    "rotation": {
                        "roll": 0.004472893662750721,
                        "pitch": 0.874189019203186,
                        "yaw": -170.33709716796875
                    }
                },
                "velocity": {
                    "x": -6.828366756439209,
                    "y": -1.1795951128005981,
                    "z": 0.08863893151283264
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.5849609375,
                        "y": 3450.1357421875,
                        "z": 370.533935546875
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.716459274291992,
                "transform": {
                    "location": {
                        "x": 932.4440307617188,
                        "y": 3616.5546875,
                        "z": 370.87939453125
                    },
                    "rotation": {
                        "roll": 0.0016554874600842595,
                        "pitch": 0.04168464243412018,
                        "yaw": -80.31541442871094
                    }
                },
                "velocity": {
                    "x": 0.9476025700569153,
                    "y": -5.637371063232422,
                    "z": 0.0021913908421993256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.438602447509766,
                "transform": {
                    "location": {
                        "x": 929.1613159179688,
                        "y": 3616.47607421875,
                        "z": 370.8888244628906
                    },
                    "rotation": {
                        "roll": 0.005966822616755962,
                        "pitch": 0.2246244251728058,
                        "yaw": -80.42011260986328
                    }
                },
                "velocity": {
                    "x": 0.8989909887313843,
                    "y": -5.363783836364746,
                    "z": 0.005746431183069944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.609396457672119,
                "transform": {
                    "location": {
                        "x": 935.0531616210938,
                        "y": 3600.568359375,
                        "z": 370.89013671875
                    },
                    "rotation": {
                        "roll": 0.0007894613081589341,
                        "pitch": 0.01781313307583332,
                        "yaw": -80.76719665527344
                    }
                },
                "velocity": {
                    "x": 0.8994149565696716,
                    "y": -5.536820411682129,
                    "z": 0.002174987690523267
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.509600639343262,
                "transform": {
                    "location": {
                        "x": 931.8107299804688,
                        "y": 3600.24365234375,
                        "z": 370.90032958984375
                    },
                    "rotation": {
                        "roll": 0.00021718883363064378,
                        "pitch": 0.07085637748241425,
                        "yaw": -80.73594665527344
                    }
                },
                "velocity": {
                    "x": 0.8848201036453247,
                    "y": -5.438086986541748,
                    "z": 0.001690940815024078
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.715977191925049,
                "transform": {
                    "location": {
                        "x": 958.9588623046875,
                        "y": 3581.99365234375,
                        "z": 370.63134765625
                    },
                    "rotation": {
                        "roll": 6.452635716414079e-05,
                        "pitch": 0.5599867105484009,
                        "yaw": -170.73448181152344
                    }
                },
                "velocity": {
                    "x": -5.641112327575684,
                    "y": -0.9203385710716248,
                    "z": 0.05679821968078613
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.389070510864258,
                "transform": {
                    "location": {
                        "x": 942.5263671875,
                        "y": 3491.785888671875,
                        "z": 370.71392822265625
                    },
                    "rotation": {
                        "roll": 0.004181880969554186,
                        "pitch": 0.6366419196128845,
                        "yaw": 99.59080505371094
                    }
                },
                "velocity": {
                    "x": -1.2180684804916382,
                    "y": 7.287936687469482,
                    "z": 0.02545122057199478
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.2099609375,
                        "y": 3464.8935546875,
                        "z": 370.6025695800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005075327353551984,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -9.959328053810168e-06,
                    "y": -6.208987883837835e-07,
                    "z": 0.0005074346554465592
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015410674968734384,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -0.00045776282786391675,
                        "pitch": -0.03793486952781677,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00015339926176238805,
                    "y": -2.4513108655810356e-05,
                    "z": 0.00153321772813797
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453553199768066,
                "transform": {
                    "location": {
                        "x": 946.2063598632812,
                        "y": 3510.86083984375,
                        "z": 370.7747497558594
                    },
                    "rotation": {
                        "roll": -0.00012206341489218175,
                        "pitch": -0.15908876061439514,
                        "yaw": -80.85906219482422
                    }
                },
                "velocity": {
                    "x": 2.1391704082489014,
                    "y": -13.282343864440918,
                    "z": -0.03735162690281868
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.618896484375,
                        "y": 3491.240234375,
                        "z": 370.70831298828125
                    },
                    "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.821533203125,
                        "y": 3479.73486328125,
                        "z": 370.6648254394531
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.660871505737305,
                "transform": {
                    "location": {
                        "x": 941.7485961914062,
                        "y": 3516.83984375,
                        "z": 370.8232421875
                    },
                    "rotation": {
                        "roll": 0.00031070763361640275,
                        "pitch": 0.1268434375524521,
                        "yaw": 99.14569854736328
                    }
                },
                "velocity": {
                    "x": -1.2172629833221436,
                    "y": 7.563515663146973,
                    "z": 0.02135639078915119
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.451179504394531,
                "transform": {
                    "location": {
                        "x": 938.9132080078125,
                        "y": 3534.46875,
                        "z": 370.8348388671875
                    },
                    "rotation": {
                        "roll": -0.0022583031095564365,
                        "pitch": 0.4575680196285248,
                        "yaw": 99.1533203125
                    }
                },
                "velocity": {
                    "x": -1.344164252281189,
                    "y": 8.343581199645996,
                    "z": 0.01769912615418434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.361613750457764,
                "transform": {
                    "location": {
                        "x": 929.8049926757812,
                        "y": 3570.60107421875,
                        "z": 370.87908935546875
                    },
                    "rotation": {
                        "roll": 0.10231921076774597,
                        "pitch": 0.09533577412366867,
                        "yaw": 99.14753723144531
                    }
                },
                "velocity": {
                    "x": -0.6987060904502869,
                    "y": 4.3052496910095215,
                    "z": 0.017643403261899948
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028822898864746,
                "transform": {
                    "location": {
                        "x": 899.8051147460938,
                        "y": 3572.7021484375,
                        "z": 371.1699523925781
                    },
                    "rotation": {
                        "roll": 0.0009255666518583894,
                        "pitch": 0.4016970694065094,
                        "yaw": -170.85874938964844
                    }
                },
                "velocity": {
                    "x": -7.92624568939209,
                    "y": -1.2780423164367676,
                    "z": 0.05678883567452431
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.846935749053955,
                "transform": {
                    "location": {
                        "x": 945.3348999023438,
                        "y": 3494.655029296875,
                        "z": 370.7204284667969
                    },
                    "rotation": {
                        "roll": 0.008333971723914146,
                        "pitch": 0.17990034818649292,
                        "yaw": 99.12423706054688
                    }
                },
                "velocity": {
                    "x": -1.259670615196228,
                    "y": 7.745115280151367,
                    "z": 0.028565548360347748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5244879722595215,
                "transform": {
                    "location": {
                        "x": 936.1508178710938,
                        "y": 3551.627197265625,
                        "z": 370.8638916015625
                    },
                    "rotation": {
                        "roll": 0.001445866422727704,
                        "pitch": -1.1024129390716553,
                        "yaw": 99.14398193359375
                    }
                },
                "velocity": {
                    "x": -0.400521844625473,
                    "y": 2.49251127243042,
                    "z": 0.0030290125869214535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.3354363441467285,
                "transform": {
                    "location": {
                        "x": 933.677490234375,
                        "y": 3567.2626953125,
                        "z": 370.87896728515625
                    },
                    "rotation": {
                        "roll": 0.001495534903369844,
                        "pitch": -0.0011611321242526174,
                        "yaw": 98.48834228515625
                    }
                },
                "velocity": {
                    "x": -0.6336110234260559,
                    "y": 4.288882732391357,
                    "z": 0.005468377843499184
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.342183917760849,
        "expert_target_speed": 5.329330346939622,
        "target_point": [
            10.182259935897768,
            0.5939823476687691
        ],
        "target_point_next": [
            28.673383936905335,
            1.1640864994514302
        ]
    },
    "715": {
        "acceleration": [
            0.17952680587768555,
            -1.5262985229492188,
            -0.010282900184392929
        ],
        "angular_velocity": [
            -0.36048102378845215,
            -0.006440701428800821,
            -0.28101882338523865
        ],
        "forward_vector": [
            -0.13001053035259247,
            0.9915107488632202,
            0.0019284473964944482
        ],
        "right_vector": [
            -0.9915125370025635,
            -0.13001112639904022,
            0.00018748622096609324
        ],
        "location": [
            931.8051147460938,
            3560.7998046875,
            370.8702697753906
        ],
        "rotation": [
            -0.01074218936264515,
            0.11049196124076843,
            97.47021484375
        ],
        "velocity": [
            -0.6635562777519226,
            5.036955833435059,
            0.005427055060863495
        ],
        "speed": 5.080475470044064,
        "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": 11.183777809143066,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                929.6165161132812,
                3571.767333984375,
                370.8855285644531
            ],
            "velocity": [
                -0.8085474967956543,
                5.016220569610596,
                0.04423089697957039
            ],
            "speed_kmh": 18.292171495431955,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.8140258789062,
                        "y": 3477.96875,
                        "z": 370.6604919433594
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.320301055908203,
                "transform": {
                    "location": {
                        "x": 980.470458984375,
                        "y": 3585.54248046875,
                        "z": 370.3868408203125
                    },
                    "rotation": {
                        "roll": 0.009791788645088673,
                        "pitch": 0.8349701166152954,
                        "yaw": -170.2963104248047
                    }
                },
                "velocity": {
                    "x": -8.20375919342041,
                    "y": -1.3841110467910767,
                    "z": 0.09992045909166336
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.2708129882812,
                        "y": 3452.087646484375,
                        "z": 370.5437316894531
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.771390438079834,
                "transform": {
                    "location": {
                        "x": 932.7013549804688,
                        "y": 3615.0263671875,
                        "z": 370.88006591796875
                    },
                    "rotation": {
                        "roll": 0.0008930845069698989,
                        "pitch": 0.06955181062221527,
                        "yaw": -80.45214080810547
                    }
                },
                "velocity": {
                    "x": 1.1161950826644897,
                    "y": -6.67875862121582,
                    "z": 0.004734429996460676
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.310441493988037,
                "transform": {
                    "location": {
                        "x": 929.4267578125,
                        "y": 3614.8935546875,
                        "z": 370.88824462890625
                    },
                    "rotation": {
                        "roll": 0.002146957442164421,
                        "pitch": 0.44093650579452515,
                        "yaw": -80.41380310058594
                    }
                },
                "velocity": {
                    "x": 1.2067079544067383,
                    "y": -7.210158348083496,
                    "z": 0.005623407196253538
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.262357234954834,
                "transform": {
                    "location": {
                        "x": 935.2688598632812,
                        "y": 3599.240966796875,
                        "z": 370.8907775878906
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.00909098144620657,
                        "yaw": -80.78154754638672
                    }
                },
                "velocity": {
                    "x": 0.8432850241661072,
                    "y": -5.194349765777588,
                    "z": 0.0018484401516616344
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.319183349609375,
                "transform": {
                    "location": {
                        "x": 932.0245361328125,
                        "y": 3598.930908203125,
                        "z": 370.9012145996094
                    },
                    "rotation": {
                        "roll": 0.000905497174244374,
                        "pitch": 0.04089916869997978,
                        "yaw": -80.73503112792969
                    }
                },
                "velocity": {
                    "x": 0.8531485795974731,
                    "y": -5.25031852722168,
                    "z": 0.0020882796961814165
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.579097270965576,
                "transform": {
                    "location": {
                        "x": 957.56201171875,
                        "y": 3581.765869140625,
                        "z": 370.645263671875
                    },
                    "rotation": {
                        "roll": 0.00029929893207736313,
                        "pitch": 0.5658538341522217,
                        "yaw": -170.73538208007812
                    }
                },
                "velocity": {
                    "x": -5.506114959716797,
                    "y": -0.8976783752441406,
                    "z": 0.05653030425310135
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.703450202941895,
                "transform": {
                    "location": {
                        "x": 942.194091796875,
                        "y": 3493.773681640625,
                        "z": 370.7218322753906
                    },
                    "rotation": {
                        "roll": 0.00378253310918808,
                        "pitch": 0.5205491781234741,
                        "yaw": 99.54838562011719
                    }
                },
                "velocity": {
                    "x": -1.4316145181655884,
                    "y": 8.584850311279297,
                    "z": 0.02934231609106064
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.894287109375,
                        "y": 3466.85498046875,
                        "z": 370.61077880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00019995056209154427,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 9.069894076674245e-06,
                    "y": 3.00446527035092e-06,
                    "z": 0.00019972215523011982
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00032997550442814827,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -0.00045776282786391675,
                        "pitch": -0.03793486952781677,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.3313131603354122e-05,
                    "y": -2.9125483251846163e-06,
                    "z": 0.00032969395397230983
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.453784942626953,
                "transform": {
                    "location": {
                        "x": 946.740966796875,
                        "y": 3507.54052734375,
                        "z": 370.76519775390625
                    },
                    "rotation": {
                        "roll": 0.0004895345773547888,
                        "pitch": -0.16888324916362762,
                        "yaw": -80.84571838378906
                    }
                },
                "velocity": {
                    "x": 2.138427734375,
                    "y": -13.282695770263672,
                    "z": -0.03809874504804611
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.1228637695312,
                        "y": 3487.80517578125,
                        "z": 370.6935119628906
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.5045776367188,
                        "y": 3481.704345703125,
                        "z": 370.67279052734375
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.861206531524658,
                "transform": {
                    "location": {
                        "x": 941.443115234375,
                        "y": 3518.73779296875,
                        "z": 370.8282470703125
                    },
                    "rotation": {
                        "roll": 0.0013116217451170087,
                        "pitch": 0.16477830708026886,
                        "yaw": 99.13795471191406
                    }
                },
                "velocity": {
                    "x": -1.2474184036254883,
                    "y": 7.761575222015381,
                    "z": 0.02161012589931488
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.461973667144775,
                "transform": {
                    "location": {
                        "x": 938.594970703125,
                        "y": 3536.4443359375,
                        "z": 370.8387145996094
                    },
                    "rotation": {
                        "roll": -0.00045776626211591065,
                        "pitch": 0.05354867875576019,
                        "yaw": 99.14637756347656
                    }
                },
                "velocity": {
                    "x": -1.186307668685913,
                    "y": 7.367051124572754,
                    "z": 0.016766328364610672
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.081158638000488,
                "transform": {
                    "location": {
                        "x": 929.6165161132812,
                        "y": 3571.767333984375,
                        "z": 370.8855285644531
                    },
                    "rotation": {
                        "roll": 0.13609494268894196,
                        "pitch": 0.3427525460720062,
                        "yaw": 99.15689086914062
                    }
                },
                "velocity": {
                    "x": -0.8085474967956543,
                    "y": 5.016220569610596,
                    "z": 0.04423089697957039
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02936840057373,
                "transform": {
                    "location": {
                        "x": 897.823486328125,
                        "y": 3572.383056640625,
                        "z": 371.18389892578125
                    },
                    "rotation": {
                        "roll": 0.00040414807153865695,
                        "pitch": 0.3963012099266052,
                        "yaw": -170.82933044433594
                    }
                },
                "velocity": {
                    "x": -7.926974773406982,
                    "y": -1.2769852876663208,
                    "z": 0.056095190346241
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.170914649963379,
                "transform": {
                    "location": {
                        "x": 945.0148315429688,
                        "y": 3496.63427734375,
                        "z": 370.7273254394531
                    },
                    "rotation": {
                        "roll": 0.005083230324089527,
                        "pitch": 0.2145567238330841,
                        "yaw": 99.03868865966797
                    }
                },
                "velocity": {
                    "x": -1.3015989065170288,
                    "y": 8.06653118133545,
                    "z": 0.027524851262569427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7421607971191406,
                "transform": {
                    "location": {
                        "x": 936.026123046875,
                        "y": 3552.4013671875,
                        "z": 370.861083984375
                    },
                    "rotation": {
                        "roll": 0.0007345334743149579,
                        "pitch": -0.10995238274335861,
                        "yaw": 99.1442642211914
                    }
                },
                "velocity": {
                    "x": -0.5946451425552368,
                    "y": 3.694610118865967,
                    "z": 0.004567165393382311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.306520938873291,
                "transform": {
                    "location": {
                        "x": 933.5205078125,
                        "y": 3568.35595703125,
                        "z": 370.8800048828125
                    },
                    "rotation": {
                        "roll": 0.047058504074811935,
                        "pitch": 0.03070169873535633,
                        "yaw": 98.22354888916016
                    }
                },
                "velocity": {
                    "x": -0.493396520614624,
                    "y": 4.278160095214844,
                    "z": 0.005192527547478676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3881929814815521,
        "expert_target_speed": 5.372762862365013,
        "target_point": [
            8.916405522241934,
            0.5776673767131384
        ],
        "target_point_next": [
            27.408436967943032,
            1.1175364124241418
        ]
    },
    "720": {
        "acceleration": [
            0.2737140655517578,
            -3.151826858520508,
            0.003925892524421215
        ],
        "angular_velocity": [
            -0.8940792083740234,
            -0.029699377715587616,
            0.7314798831939697
        ],
        "forward_vector": [
            -0.13101939857006073,
            0.9913797974586487,
            -0.0001950263831531629
        ],
        "right_vector": [
            -0.9913797378540039,
            -0.13101930916309357,
            0.0003664509567897767
        ],
        "location": [
            931.642333984375,
            3562.022705078125,
            370.87164306640625
        ],
        "rotation": [
            -0.02099609375,
            -0.011174188926815987,
            97.52850341796875
        ],
        "velocity": [
            -0.6327557563781738,
            4.655439376831055,
            0.0030971430242061615
        ],
        "speed": 4.698243888792794,
        "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": 11.275327682495117,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                929.4058227539062,
                3573.073974609375,
                370.8934631347656
            ],
            "velocity": [
                -0.8785319924354553,
                5.444974899291992,
                0.04342878237366676
            ],
            "speed_kmh": 19.856033642832355,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 930.372314453125,
                        "y": 3629.068603515625,
                        "z": 371.2242736816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.4830322265625,
                        "y": 3480.02490234375,
                        "z": 370.6683044433594
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031112670898438,
                "transform": {
                    "location": {
                        "x": 978.4342651367188,
                        "y": 3585.198974609375,
                        "z": 370.4125671386719
                    },
                    "rotation": {
                        "roll": 0.006271161139011383,
                        "pitch": 0.6844941973686218,
                        "yaw": -170.4352264404297
                    }
                },
                "velocity": {
                    "x": -7.9196600914001465,
                    "y": -1.3298254013061523,
                    "z": 0.09656333923339844
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.948486328125,
                        "y": 3454.092041015625,
                        "z": 370.55377197265625
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.667820930480957,
                "transform": {
                    "location": {
                        "x": 932.9846801757812,
                        "y": 3613.33056640625,
                        "z": 370.8815002441406
                    },
                    "rotation": {
                        "roll": 0.0018143679480999708,
                        "pitch": 0.04435524716973305,
                        "yaw": -80.53411102294922
                    }
                },
                "velocity": {
                    "x": 1.0887218713760376,
                    "y": -6.578334808349609,
                    "z": 0.005912437103688717
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.3905587196350098,
                "transform": {
                    "location": {
                        "x": 929.6769409179688,
                        "y": 3613.397216796875,
                        "z": 370.89642333984375
                    },
                    "rotation": {
                        "roll": -0.001556400558911264,
                        "pitch": -0.46511536836624146,
                        "yaw": -80.41771697998047
                    }
                },
                "velocity": {
                    "x": 0.5581502914428711,
                    "y": -3.344301700592041,
                    "z": 0.0012673854362219572
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.390929698944092,
                "transform": {
                    "location": {
                        "x": 935.4828491210938,
                        "y": 3597.919921875,
                        "z": 370.89117431640625
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": 0.02346169762313366,
                        "yaw": -80.80025482177734
                    }
                },
                "velocity": {
                    "x": 0.8605219721794128,
                    "y": -5.32180643081665,
                    "z": 0.0018337726360186934
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.391936302185059,
                "transform": {
                    "location": {
                        "x": 932.2447509765625,
                        "y": 3597.57421875,
                        "z": 370.90185546875
                    },
                    "rotation": {
                        "roll": 0.00010115884651895612,
                        "pitch": 0.02552441507577896,
                        "yaw": -80.80748748779297
                    }
                },
                "velocity": {
                    "x": 0.86161208152771,
                    "y": -5.3226494789123535,
                    "z": 0.0025680160615593195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.33303689956665,
                "transform": {
                    "location": {
                        "x": 956.216064453125,
                        "y": 3581.54638671875,
                        "z": 370.658935546875
                    },
                    "rotation": {
                        "roll": -0.0002441476099193096,
                        "pitch": 0.5612024664878845,
                        "yaw": -170.74053955078125
                    }
                },
                "velocity": {
                    "x": -5.263412952423096,
                    "y": -0.8572968244552612,
                    "z": 0.05297742784023285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.244697570800781,
                "transform": {
                    "location": {
                        "x": 941.8480224609375,
                        "y": 3495.863037109375,
                        "z": 370.7318420410156
                    },
                    "rotation": {
                        "roll": 0.013321299105882645,
                        "pitch": 0.1465895175933838,
                        "yaw": 99.4043197631836
                    }
                },
                "velocity": {
                    "x": -1.3359626531600952,
                    "y": 8.135687828063965,
                    "z": 0.028842896223068237
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.5720825195312,
                        "y": 3468.8583984375,
                        "z": 370.61920166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005150925717316568,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -1.2562668416649103e-05,
                    "y": -6.706313797621988e-07,
                    "z": 0.0005149389035068452
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00020950287580490112,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -0.00045776282786391675,
                        "pitch": -0.03793486952781677,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.8408894902677275e-05,
                    "y": 7.16994509275537e-06,
                    "z": 0.0002085693267872557
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.45390510559082,
                "transform": {
                    "location": {
                        "x": 947.2756958007812,
                        "y": 3504.22021484375,
                        "z": 370.75543212890625
                    },
                    "rotation": {
                        "roll": 0.0007096556364558637,
                        "pitch": -0.1680021584033966,
                        "yaw": -80.86548614501953
                    }
                },
                "velocity": {
                    "x": 2.1369106769561768,
                    "y": -13.28305435180664,
                    "z": -0.04034092277288437
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4844,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.662109375,
                        "y": 3484.37451171875,
                        "z": 370.6795959472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1820068359375,
                        "y": 3483.708984375,
                        "z": 370.6809997558594
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.918447017669678,
                "transform": {
                    "location": {
                        "x": 941.1245727539062,
                        "y": 3520.71875,
                        "z": 370.8337097167969
                    },
                    "rotation": {
                        "roll": 0.0002600818988867104,
                        "pitch": 0.1676265001296997,
                        "yaw": 99.13983917236328
                    }
                },
                "velocity": {
                    "x": -1.2571138143539429,
                    "y": 7.817991256713867,
                    "z": 0.022011708468198776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.3171162605285645,
                "transform": {
                    "location": {
                        "x": 938.3306884765625,
                        "y": 3538.0859375,
                        "z": 370.8420104980469
                    },
                    "rotation": {
                        "roll": -0.0007934552850201726,
                        "pitch": -0.22589483857154846,
                        "yaw": 99.13631439208984
                    }
                },
                "velocity": {
                    "x": -0.8459157943725586,
                    "y": 5.249382019042969,
                    "z": 0.011843432672321796
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.515564918518066,
                "transform": {
                    "location": {
                        "x": 929.4058227539062,
                        "y": 3573.073974609375,
                        "z": 370.8934631347656
                    },
                    "rotation": {
                        "roll": 0.13566072285175323,
                        "pitch": 0.6116229295730591,
                        "yaw": 99.16477966308594
                    }
                },
                "velocity": {
                    "x": -0.8785319924354553,
                    "y": 5.444974899291992,
                    "z": 0.04342878237366676
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028610229492188,
                "transform": {
                    "location": {
                        "x": 895.8419189453125,
                        "y": 3572.063720703125,
                        "z": 371.1977233886719
                    },
                    "rotation": {
                        "roll": -0.0006408681510947645,
                        "pitch": 0.3833101987838745,
                        "yaw": -170.87179565429688
                    }
                },
                "velocity": {
                    "x": -7.926693439483643,
                    "y": -1.2739601135253906,
                    "z": 0.056009043008089066
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.996523380279541,
                "transform": {
                    "location": {
                        "x": 944.6922607421875,
                        "y": 3498.634033203125,
                        "z": 370.7338562011719
                    },
                    "rotation": {
                        "roll": 0.001181795378215611,
                        "pitch": 0.1818537712097168,
                        "yaw": 99.00657653808594
                    }
                },
                "velocity": {
                    "x": -1.2738227844238281,
                    "y": 7.894373416900635,
                    "z": 0.025061549618840218
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.059152126312256,
                "transform": {
                    "location": {
                        "x": 935.8493041992188,
                        "y": 3553.50048828125,
                        "z": 370.86053466796875
                    },
                    "rotation": {
                        "roll": -0.00012207946565467864,
                        "pitch": 0.4135064482688904,
                        "yaw": 99.14472198486328
                    }
                },
                "velocity": {
                    "x": -0.8041136860847473,
                    "y": 4.9948272705078125,
                    "z": 0.011066178791224957
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.871082782745361,
                "transform": {
                    "location": {
                        "x": 933.4393310546875,
                        "y": 3569.4638671875,
                        "z": 370.8811340332031
                    },
                    "rotation": {
                        "roll": 0.10117802023887634,
                        "pitch": 0.11152332276105881,
                        "yaw": 95.59345245361328
                    }
                },
                "velocity": {
                    "x": -0.29867714643478394,
                    "y": 4.861914157867432,
                    "z": 0.0057295034639537334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.403868705034256,
        "expert_target_speed": 5.100053318587651,
        "target_point": [
            7.683302399480169,
            0.5674424481716692
        ],
        "target_point_next": [
            26.175873501876236,
            1.088498670995997
        ]
    },
    "725": {
        "acceleration": [
            0.1022040843963623,
            -1.185922622680664,
            -0.009899898432195187
        ],
        "angular_velocity": [
            0.07830456644296646,
            0.005851895082741976,
            1.1240350008010864
        ],
        "forward_vector": [
            -0.13471664488315582,
            0.9908799529075623,
            -0.0028809267096221447
        ],
        "right_vector": [
            -0.9908841252326965,
            -0.13471578061580658,
            0.0004974763724021614
        ],
        "location": [
            931.4953002929688,
            3563.086181640625,
            370.8731994628906
        ],
        "rotation": [
            -0.02850341796875,
            -0.16506516933441162,
            97.74227142333984
        ],
        "velocity": [
            -0.5675503611564636,
            4.019539833068848,
            0.0021944427862763405
        ],
        "speed": 4.059410533818423,
        "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": 11.682726860046387,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                929.1690673828125,
                3574.534912109375,
                370.9093933105469
            ],
            "velocity": [
                -0.9874883890151978,
                6.202399730682373,
                0.0901956558227539
            ],
            "speed_kmh": 22.612193208121923,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.332392930984497,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 370.8710021972656
                    },
                    "rotation": {
                        "roll": 0.00013536149344872683,
                        "pitch": 0.03855641558766365,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": 0.00012823729775846004,
                    "y": -0.0008937151287682354,
                    "z": -1.3323925733566284
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.44885098934173584,
                "transform": {
                    "location": {
                        "x": 930.372314453125,
                        "y": 3629.068603515625,
                        "z": 370.8291320800781
                    },
                    "rotation": {
                        "roll": 0.0006177520263008773,
                        "pitch": 0.03822856768965721,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": -2.7288415367365815e-06,
                    "y": -0.0002944550942629576,
                    "z": -0.4488508999347687
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.162109375,
                        "y": 3482.019287109375,
                        "z": 370.67626953125
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.939809799194336,
                "transform": {
                    "location": {
                        "x": 976.4852905273438,
                        "y": 3584.87158203125,
                        "z": 370.4356994628906
                    },
                    "rotation": {
                        "roll": 0.0029494946356862783,
                        "pitch": 0.6627742052078247,
                        "yaw": -170.4801025390625
                    }
                },
                "velocity": {
                    "x": -7.8301615715026855,
                    "y": -1.3117716312408447,
                    "z": 0.09164125472307205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.6293334960938,
                        "y": 3456.07421875,
                        "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.365992546081543,
                "transform": {
                    "location": {
                        "x": 933.1944580078125,
                        "y": 3612.064697265625,
                        "z": 370.8832702636719
                    },
                    "rotation": {
                        "roll": 0.001034220797009766,
                        "pitch": -0.07416219264268875,
                        "yaw": -80.62425231933594
                    }
                },
                "velocity": {
                    "x": 0.38544127345085144,
                    "y": -2.334385633468628,
                    "z": 9.000777936307713e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.303158760070801,
                "transform": {
                    "location": {
                        "x": 929.8320922851562,
                        "y": 3612.458740234375,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": 0.005948894191533327,
                        "pitch": -0.29724299907684326,
                        "yaw": -80.5137710571289
                    }
                },
                "velocity": {
                    "x": 0.6969640254974365,
                    "y": -4.246340751647949,
                    "z": 0.0020878505893051624
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.060380458831787,
                "transform": {
                    "location": {
                        "x": 935.6900634765625,
                        "y": 3596.639404296875,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": 0.01273830235004425,
                        "yaw": -80.81532287597656
                    }
                },
                "velocity": {
                    "x": 0.807390570640564,
                    "y": -4.995554447174072,
                    "z": 0.0024084949400275946
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.020555019378662,
                "transform": {
                    "location": {
                        "x": 932.4481201171875,
                        "y": 3596.31689453125,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 2.491785926395096e-05,
                        "pitch": 0.05173185095191002,
                        "yaw": -80.81368255615234
                    }
                },
                "velocity": {
                    "x": 0.8015698790550232,
                    "y": -4.95615291595459,
                    "z": -0.002501163398846984
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.141696453094482,
                "transform": {
                    "location": {
                        "x": 954.9298706054688,
                        "y": 3581.3369140625,
                        "z": 370.6717529296875
                    },
                    "rotation": {
                        "roll": -6.103442865423858e-05,
                        "pitch": 0.563565731048584,
                        "yaw": -170.74322509765625
                    }
                },
                "velocity": {
                    "x": -5.07448673248291,
                    "y": -0.8269977569580078,
                    "z": 0.051942452788352966
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.907205104827881,
                "transform": {
                    "location": {
                        "x": 941.5226440429688,
                        "y": 3497.84521484375,
                        "z": 370.73944091796875
                    },
                    "rotation": {
                        "roll": 0.006535510998219252,
                        "pitch": 0.04877437651157379,
                        "yaw": 99.30753326416016
                    }
                },
                "velocity": {
                    "x": -1.2744159698486328,
                    "y": 7.803787708282471,
                    "z": 0.0255771242082119
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.253173828125,
                        "y": 3470.838623046875,
                        "z": 370.6275329589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002827383577823639,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 6.33712625131011e-06,
                    "y": 2.763490101642674e-06,
                    "z": 0.0002826538111548871
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012044671457260847,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": -0.03793486952781677,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.7196318114874884e-05,
                    "y": 6.7272549131303094e-06,
                    "z": 0.0012041412992402911
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.454307556152344,
                "transform": {
                    "location": {
                        "x": 947.8098754882812,
                        "y": 3500.899658203125,
                        "z": 370.7449035644531
                    },
                    "rotation": {
                        "roll": 0.0003228348505217582,
                        "pitch": -0.18682615458965302,
                        "yaw": -80.85301208496094
                    }
                },
                "velocity": {
                    "x": 2.1371636390686035,
                    "y": -13.283413887023926,
                    "z": -0.042807549238204956
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.864013671875,
                        "y": 3485.683349609375,
                        "z": 370.6886291503906
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.832624912261963,
                "transform": {
                    "location": {
                        "x": 940.8329467773438,
                        "y": 3522.53125,
                        "z": 370.8394775390625
                    },
                    "rotation": {
                        "roll": 0.000807026750408113,
                        "pitch": 0.06817211210727692,
                        "yaw": 99.13517761230469
                    }
                },
                "velocity": {
                    "x": -1.0850329399108887,
                    "y": 6.7459001541137695,
                    "z": 0.017195357009768486
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4454565048217773,
                "transform": {
                    "location": {
                        "x": 938.1901245117188,
                        "y": 3538.955322265625,
                        "z": 370.8435974121094
                    },
                    "rotation": {
                        "roll": 0.005806945264339447,
                        "pitch": -0.25452014803886414,
                        "yaw": 99.45348358154297
                    }
                },
                "velocity": {
                    "x": -0.5527346134185791,
                    "y": 3.4008264541625977,
                    "z": 0.005966997239738703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.281164646148682,
                "transform": {
                    "location": {
                        "x": 929.1690673828125,
                        "y": 3574.534912109375,
                        "z": 370.9093933105469
                    },
                    "rotation": {
                        "roll": -0.0781555324792862,
                        "pitch": 0.7425029873847961,
                        "yaw": 99.17574310302734
                    }
                },
                "velocity": {
                    "x": -0.9874883890151978,
                    "y": 6.202399730682373,
                    "z": 0.0901956558227539
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029899597167969,
                "transform": {
                    "location": {
                        "x": 893.8599853515625,
                        "y": 3571.744873046875,
                        "z": 371.2113952636719
                    },
                    "rotation": {
                        "roll": 0.001168275368399918,
                        "pitch": 0.38391125202178955,
                        "yaw": -170.8377685546875
                    }
                },
                "velocity": {
                    "x": -7.927690029144287,
                    "y": -1.2760112285614014,
                    "z": 0.05309319496154785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063088417053223,
                "transform": {
                    "location": {
                        "x": 944.3739624023438,
                        "y": 3500.610595703125,
                        "z": 370.7403869628906
                    },
                    "rotation": {
                        "roll": 0.0012618108885362744,
                        "pitch": 0.18858151137828827,
                        "yaw": 98.99388122558594
                    }
                },
                "velocity": {
                    "x": -1.2801837921142578,
                    "y": 7.9607696533203125,
                    "z": 0.0257412139326334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.312689781188965,
                "transform": {
                    "location": {
                        "x": 935.6385498046875,
                        "y": 3554.80859375,
                        "z": 370.8626403808594
                    },
                    "rotation": {
                        "roll": -0.0010070946300402284,
                        "pitch": 0.3164972960948944,
                        "yaw": 99.14331817626953
                    }
                },
                "velocity": {
                    "x": -0.8444674015045166,
                    "y": 5.245141983032227,
                    "z": 0.005920715164393187
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.503910064697266,
                "transform": {
                    "location": {
                        "x": 933.3728637695312,
                        "y": 3570.78173828125,
                        "z": 370.88372802734375
                    },
                    "rotation": {
                        "roll": 0.03909681364893913,
                        "pitch": 0.19107453525066376,
                        "yaw": 93.5896987915039
                    }
                },
                "velocity": {
                    "x": -0.24020762741565704,
                    "y": 5.4986186027526855,
                    "z": 0.02279958687722683
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.43181994557380676,
        "expert_target_speed": 4.65351977241422,
        "target_point": [
            25.106162532879367,
            0.9884043671006331
        ],
        "target_point_next": [
            43.1006992761636,
            1.4282818462299245
        ]
    },
    "730": {
        "acceleration": [
            -0.2324509620666504,
            1.2262916564941406,
            0.018997766077518463
        ],
        "angular_velocity": [
            0.7944470643997192,
            0.13485287129878998,
            0.581232488155365
        ],
        "forward_vector": [
            -0.13823449611663818,
            0.9903994202613831,
            -0.00048673147102817893
        ],
        "right_vector": [
            -0.9903994798660278,
            -0.13823430240154266,
            0.0004170509346295148
        ],
        "location": [
            931.3522338867188,
            3564.0908203125,
            370.87359619140625
        ],
        "rotation": [
            -0.02389526180922985,
            -0.027887661010026932,
            97.9457015991211
        ],
        "velocity": [
            -0.5944107174873352,
            4.1037116050720215,
            0.0029098319355398417
        ],
        "speed": 4.146537475854595,
        "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": 12.38714599609375,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                928.8973388671875,
                3576.232177734375,
                370.9217224121094
            ],
            "velocity": [
                -1.163523554801941,
                7.259517669677734,
                0.017686672508716583
            ],
            "speed_kmh": 26.467883726096293,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.24716106057167053,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 370.840576171875
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": 0.03828320652246475,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": -4.079866630490869e-05,
                    "y": 0.00016728963237255812,
                    "z": 0.24716100096702576
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.1335298717021942,
                "transform": {
                    "location": {
                        "x": 930.372314453125,
                        "y": 3629.068603515625,
                        "z": 370.8450622558594
                    },
                    "rotation": {
                        "roll": 0.00032557130907662213,
                        "pitch": 0.03804415091872215,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": -8.715756848687306e-05,
                    "y": 8.536696986993775e-05,
                    "z": 0.13352981209754944
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.8472290039062,
                        "y": 3483.97705078125,
                        "z": 370.6840515136719
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.102649688720703,
                "transform": {
                    "location": {
                        "x": 974.4955444335938,
                        "y": 3584.54052734375,
                        "z": 370.45904541015625
                    },
                    "rotation": {
                        "roll": 0.0025152137968689203,
                        "pitch": 0.6795081496238708,
                        "yaw": -170.56703186035156
                    }
                },
                "velocity": {
                    "x": -7.993638515472412,
                    "y": -1.321251630783081,
                    "z": 0.09472621977329254
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.3101196289062,
                        "y": 3458.057373046875,
                        "z": 370.5724182128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8998854756355286,
                "transform": {
                    "location": {
                        "x": 933.2235717773438,
                        "y": 3611.889404296875,
                        "z": 370.8830871582031
                    },
                    "rotation": {
                        "roll": 0.00047494168393313885,
                        "pitch": -0.040154680609703064,
                        "yaw": -80.65061950683594
                    }
                },
                "velocity": {
                    "x": 0.14444582164287567,
                    "y": -0.8882157206535339,
                    "z": 0.001449165283702314
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.927770137786865,
                "transform": {
                    "location": {
                        "x": 930.0216674804688,
                        "y": 3611.306884765625,
                        "z": 370.89178466796875
                    },
                    "rotation": {
                        "roll": 0.0032519970554858446,
                        "pitch": 0.28531065583229065,
                        "yaw": -80.60087585449219
                    }
                },
                "velocity": {
                    "x": 0.7961469292640686,
                    "y": -4.863030433654785,
                    "z": 0.0020684050396084785
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5134432315826416,
                "transform": {
                    "location": {
                        "x": 935.864990234375,
                        "y": 3595.505126953125,
                        "z": 370.8919982910156
                    },
                    "rotation": {
                        "roll": -0.004852294456213713,
                        "pitch": -0.03262781351804733,
                        "yaw": -79.7614517211914
                    }
                },
                "velocity": {
                    "x": 0.5892137885093689,
                    "y": -3.463684320449829,
                    "z": -0.0009850787464529276
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.916586875915527,
                "transform": {
                    "location": {
                        "x": 932.6484375,
                        "y": 3595.07763671875,
                        "z": 370.90228271484375
                    },
                    "rotation": {
                        "roll": 0.00010097207268700004,
                        "pitch": 0.024131057783961296,
                        "yaw": -80.8134536743164
                    }
                },
                "velocity": {
                    "x": 0.7851271033287048,
                    "y": -4.853493690490723,
                    "z": -0.0014669226948171854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.058728218078613,
                "transform": {
                    "location": {
                        "x": 953.6669311523438,
                        "y": 3581.131103515625,
                        "z": 370.68450927734375
                    },
                    "rotation": {
                        "roll": -3.0520561267621815e-05,
                        "pitch": 0.565887987613678,
                        "yaw": -170.74615478515625
                    }
                },
                "velocity": {
                    "x": -4.992645263671875,
                    "y": -0.8134167790412903,
                    "z": 0.05076048895716667
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.051539421081543,
                "transform": {
                    "location": {
                        "x": 941.20263671875,
                        "y": 3499.80810546875,
                        "z": 370.74456787109375
                    },
                    "rotation": {
                        "roll": 0.0061621093191206455,
                        "pitch": 0.20145641267299652,
                        "yaw": 99.21234130859375
                    }
                },
                "velocity": {
                    "x": -1.287745475769043,
                    "y": 7.947851181030273,
                    "z": 0.025632210075855255
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.9339599609375,
                        "y": 3472.82275390625,
                        "z": 370.6358947753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.7364206440979615e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 7.255002998363125e-08,
                    "y": -4.932051638206758e-07,
                    "z": 5.736203820561059e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_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": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00036450623883865774,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -0.00033569318475201726,
                        "pitch": -0.03798950836062431,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.0989329894073308e-05,
                    "y": 9.44851399253821e-06,
                    "z": 0.0003642180236056447
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "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": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.454347610473633,
                "transform": {
                    "location": {
                        "x": 948.3442993164062,
                        "y": 3497.578369140625,
                        "z": 370.73382568359375
                    },
                    "rotation": {
                        "roll": 0.0007009987020865083,
                        "pitch": -0.19076034426689148,
                        "yaw": -80.87016296386719
                    }
                },
                "velocity": {
                    "x": 2.136916399002075,
                    "y": -13.283487319946289,
                    "z": -0.045004718005657196
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.543701171875,
                        "y": 3487.674072265625,
                        "z": 370.69635009765625
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.596691131591797,
                "transform": {
                    "location": {
                        "x": 940.6279296875,
                        "y": 3523.790771484375,
                        "z": 370.8448791503906
                    },
                    "rotation": {
                        "roll": -0.0031738183461129665,
                        "pitch": -0.21222080290317535,
                        "yaw": 98.8819580078125
                    }
                },
                "velocity": {
                    "x": -0.4119442403316498,
                    "y": 2.5638012886047363,
                    "z": 0.005452308338135481
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.806887626647949,
                "transform": {
                    "location": {
                        "x": 938.0233154296875,
                        "y": 3539.983154296875,
                        "z": 370.8458557128906
                    },
                    "rotation": {
                        "roll": 0.00494470214471221,
                        "pitch": 0.24544283747673035,
                        "yaw": 99.32568359375
                    }
                },
                "velocity": {
                    "x": -0.7688613533973694,
                    "y": 4.744988441467285,
                    "z": 0.010259770788252354
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.352190017700195,
                "transform": {
                    "location": {
                        "x": 928.8973388671875,
                        "y": 3576.232177734375,
                        "z": 370.9217224121094
                    },
                    "rotation": {
                        "roll": -0.0996398776769638,
                        "pitch": 0.3917386531829834,
                        "yaw": 99.12460327148438
                    }
                },
                "velocity": {
                    "x": -1.163523554801941,
                    "y": 7.259517669677734,
                    "z": 0.017686672508716583
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02881908416748,
                "transform": {
                    "location": {
                        "x": 891.8783569335938,
                        "y": 3571.42529296875,
                        "z": 371.224609375
                    },
                    "rotation": {
                        "roll": 0.0009397280518896878,
                        "pitch": 0.3755306005477905,
                        "yaw": -170.8715362548828
                    }
                },
                "velocity": {
                    "x": -7.9265360832214355,
                    "y": -1.2763913869857788,
                    "z": 0.0527607724070549
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042439460754395,
                "transform": {
                    "location": {
                        "x": 944.0538940429688,
                        "y": 3502.6015625,
                        "z": 370.7467346191406
                    },
                    "rotation": {
                        "roll": -0.000518796790856868,
                        "pitch": 0.1827417016029358,
                        "yaw": 98.9783706665039
                    }
                },
                "velocity": {
                    "x": -1.277205228805542,
                    "y": 7.940336227416992,
                    "z": 0.025402860715985298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.555328845977783,
                "transform": {
                    "location": {
                        "x": 935.3973388671875,
                        "y": 3556.307373046875,
                        "z": 370.86370849609375
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": 0.487368106842041,
                        "yaw": 99.1438217163086
                    }
                },
                "velocity": {
                    "x": -1.0416991710662842,
                    "y": 6.472029209136963,
                    "z": 0.0062065888196229935
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.655737400054932,
                "transform": {
                    "location": {
                        "x": 933.3739013671875,
                        "y": 3572.2958984375,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.00436702324077487,
                        "pitch": 0.3965812623500824,
                        "yaw": 89.95606231689453
                    }
                },
                "velocity": {
                    "x": 0.3516160249710083,
                    "y": 6.646434783935547,
                    "z": 0.010666008107364178
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42366254329681396,
        "expert_target_speed": 4.8573124875299385,
        "target_point": [
            24.094743044015665,
            0.8964470251606751
        ],
        "target_point_next": [
            42.090728070551954,
            1.2724360233154517
        ]
    },
    "735": {
        "acceleration": [
            -0.4419136047363281,
            2.5221920013427734,
            0.008254623971879482
        ],
        "angular_velocity": [
            0.702770471572876,
            0.07463265210390091,
            0.9406542181968689
        ],
        "forward_vector": [
            -0.14209192991256714,
            0.9898492693901062,
            0.002892847638577223
        ],
        "right_vector": [
            -0.9898530840873718,
            -0.14209388196468353,
            0.00047830186667852104
        ],
        "location": [
            931.1932373046875,
            3565.178955078125,
            370.8738098144531
        ],
        "rotation": [
            -0.027404794469475746,
            0.16574819386005402,
            98.16895294189453
        ],
        "velocity": [
            -0.6867298483848572,
            4.620558738708496,
            0.003273286856710911
        ],
        "speed": 4.671312550292277,
        "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": 13.225934028625488,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                928.591064453125,
                3578.146240234375,
                370.9334716796875
            ],
            "velocity": [
                -1.2705498933792114,
                8.00607967376709,
                -0.009025859646499157
            ],
            "speed_kmh": 29.182589081775735,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.05821988359093666,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 370.8782653808594
                    },
                    "rotation": {
                        "roll": 0.0002140070719178766,
                        "pitch": 0.03857690468430519,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": -2.466575642756652e-05,
                    "y": 3.269126682425849e-05,
                    "z": 0.05821986868977547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1243243217468262,
                "transform": {
                    "location": {
                        "x": 930.409423828125,
                        "y": 3628.86181640625,
                        "z": 370.86328125
                    },
                    "rotation": {
                        "roll": -0.0027160642202943563,
                        "pitch": 0.09222804009914398,
                        "yaw": -80.76939392089844
                    }
                },
                "velocity": {
                    "x": 0.2002207487821579,
                    "y": -1.1059701442718506,
                    "z": 0.029101647436618805
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.5245971679688,
                        "y": 3485.98095703125,
                        "z": 370.6917419433594
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.700882434844971,
                "transform": {
                    "location": {
                        "x": 972.5419311523438,
                        "y": 3584.217529296875,
                        "z": 370.4823303222656
                    },
                    "rotation": {
                        "roll": 0.0020671857055276632,
                        "pitch": 0.6505276560783386,
                        "yaw": -170.61985778808594
                    }
                },
                "velocity": {
                    "x": -7.597581386566162,
                    "y": -1.2538418769836426,
                    "z": 0.0907110795378685
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.989990234375,
                        "y": 3460.047119140625,
                        "z": 370.58160400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.59577214717865,
                "transform": {
                    "location": {
                        "x": 933.2747192382812,
                        "y": 3611.571533203125,
                        "z": 370.8824462890625
                    },
                    "rotation": {
                        "roll": 0.00041462734225206077,
                        "pitch": 0.055713851004838943,
                        "yaw": -80.57633972167969
                    }
                },
                "velocity": {
                    "x": 0.258008748292923,
                    "y": -1.5747750997543335,
                    "z": 0.001919555594213307
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.104945659637451,
                "transform": {
                    "location": {
                        "x": 930.226318359375,
                        "y": 3610.060302734375,
                        "z": 370.8937683105469
                    },
                    "rotation": {
                        "roll": 0.0010425549698993564,
                        "pitch": 0.16034550964832306,
                        "yaw": -80.67833709716797
                    }
                },
                "velocity": {
                    "x": 0.8240100145339966,
                    "y": -5.038001537322998,
                    "z": 0.004093599040061235
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0014983464498072863,
                "transform": {
                    "location": {
                        "x": 935.9224853515625,
                        "y": 3595.05615234375,
                        "z": 370.8927307128906
                    },
                    "rotation": {
                        "roll": -0.010406493209302425,
                        "pitch": -0.11096324771642685,
                        "yaw": -77.37589263916016
                    }
                },
                "velocity": {
                    "x": -0.0014259113231673837,
                    "y": -0.00036377666401676834,
                    "z": -0.0002819315704982728
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.52439022064209,
                "transform": {
                    "location": {
                        "x": 932.81787109375,
                        "y": 3594.029541015625,
                        "z": 370.9015808105469
                    },
                    "rotation": {
                        "roll": -0.0003051812818739563,
                        "pitch": 0.11190581321716309,
                        "yaw": -80.81407165527344
                    }
                },
                "velocity": {
                    "x": 0.5626236200332642,
                    "y": -3.4791924953460693,
                    "z": -0.0011629676446318626
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7390793561935425,
                "transform": {
                    "location": {
                        "x": 952.7327270507812,
                        "y": 3580.97900390625,
                        "z": 370.69439697265625
                    },
                    "rotation": {
                        "roll": 0.000588357332162559,
                        "pitch": 0.4800325036048889,
                        "yaw": -170.7435760498047
                    }
                },
                "velocity": {
                    "x": -1.7163617610931396,
                    "y": -0.2796839773654938,
                    "z": 0.01661992073059082
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.154007911682129,
                "transform": {
                    "location": {
                        "x": 940.8775024414062,
                        "y": 3501.81591796875,
                        "z": 370.7505798339844
                    },
                    "rotation": {
                        "roll": 0.002032972639426589,
                        "pitch": 0.238803893327713,
                        "yaw": 99.20223236083984
                    }
                },
                "velocity": {
                    "x": -1.3023465871810913,
                    "y": 8.049291610717773,
                    "z": 0.02548096515238285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.6135864257812,
                        "y": 3474.81396484375,
                        "z": 370.6443176269531
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004161320975981653,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -1.5376759620266967e-05,
                    "y": -3.2711773201299366e-07,
                    "z": 0.00041584778227843344
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6118662357330322,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.9334716796875
                    },
                    "rotation": {
                        "roll": -6.103315899963491e-05,
                        "pitch": -0.04449867829680443,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 0.00011151195212733,
                    "y": -0.00047081371303647757,
                    "z": -0.6118660569190979
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010183850536122918,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": 8.424846600973979e-05,
                        "pitch": -0.03811245411634445,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -3.528218485371326e-06,
                    "y": -4.378147195893689e-07,
                    "z": 0.001018378883600235
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.97015380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.8134765625,
                        "y": 3494.18310546875,
                        "z": 370.71929931640625
                    },
                    "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2244262695312,
                        "y": 3489.659912109375,
                        "z": 370.7038879394531
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.26979660987854,
                "transform": {
                    "location": {
                        "x": 940.5184936523438,
                        "y": 3524.46875,
                        "z": 370.8443603515625
                    },
                    "rotation": {
                        "roll": -0.0032043473329395056,
                        "pitch": 0.05881475657224655,
                        "yaw": 98.84425354003906
                    }
                },
                "velocity": {
                    "x": -0.5181726813316345,
                    "y": 3.228468656539917,
                    "z": 0.007511320058256388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.409587860107422,
                "transform": {
                    "location": {
                        "x": 937.8130493164062,
                        "y": 3541.283447265625,
                        "z": 370.84857177734375
                    },
                    "rotation": {
                        "roll": 0.004139021039009094,
                        "pitch": 0.2295967936515808,
                        "yaw": 99.22935485839844
                    }
                },
                "velocity": {
                    "x": -0.8618628978729248,
                    "y": 5.340480327606201,
                    "z": 0.01019537914544344
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.106274604797363,
                "transform": {
                    "location": {
                        "x": 928.591064453125,
                        "y": 3578.146240234375,
                        "z": 370.9334716796875
                    },
                    "rotation": {
                        "roll": -0.3954162299633026,
                        "pitch": -0.0065638115629553795,
                        "yaw": 99.094970703125
                    }
                },
                "velocity": {
                    "x": -1.2705498933792114,
                    "y": 8.00607967376709,
                    "z": -0.009025859646499157
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030142784118652,
                "transform": {
                    "location": {
                        "x": 889.8965454101562,
                        "y": 3571.1064453125,
                        "z": 371.2376403808594
                    },
                    "rotation": {
                        "roll": 0.0016467341920360923,
                        "pitch": 0.36497795581817627,
                        "yaw": -170.83920288085938
                    }
                },
                "velocity": {
                    "x": -7.927933692932129,
                    "y": -1.2760578393936157,
                    "z": 0.05232617259025574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063310623168945,
                "transform": {
                    "location": {
                        "x": 943.7339477539062,
                        "y": 3504.588134765625,
                        "z": 370.7528076171875
                    },
                    "rotation": {
                        "roll": 6.470029620686546e-05,
                        "pitch": 0.1640816181898117,
                        "yaw": 99.00019073486328
                    }
                },
                "velocity": {
                    "x": -1.2803919315338135,
                    "y": 7.960964679718018,
                    "z": 0.024954786524176598
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.9896769523620605,
                "transform": {
                    "location": {
                        "x": 935.1484375,
                        "y": 3557.85400390625,
                        "z": 370.8668518066406
                    },
                    "rotation": {
                        "roll": -0.0005187949864193797,
                        "pitch": 0.09843668341636658,
                        "yaw": 99.1435317993164
                    }
                },
                "velocity": {
                    "x": -0.9518209099769592,
                    "y": 5.913563251495361,
                    "z": 0.006208782084286213
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079444885253906,
                "transform": {
                    "location": {
                        "x": 933.6331787109375,
                        "y": 3574.181396484375,
                        "z": 370.89068603515625
                    },
                    "rotation": {
                        "roll": 0.19669099152088165,
                        "pitch": 0.18915525078773499,
                        "yaw": 81.35956573486328
                    }
                },
                "velocity": {
                    "x": 1.7869725227355957,
                    "y": 7.879332542419434,
                    "z": 0.016605520620942116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.43522652983665466,
        "expert_target_speed": 5.427741444646678,
        "target_point": [
            22.998367007455435,
            0.799788456698562
        ],
        "target_point_next": [
            40.99568044996141,
            1.1056538752170386
        ]
    },
    "740": {
        "acceleration": [
            0.14746546745300293,
            -1.5509605407714844,
            -0.023286063224077225
        ],
        "angular_velocity": [
            -0.9145932197570801,
            -0.12707051634788513,
            0.9906517863273621
        ],
        "forward_vector": [
            -0.1462022364139557,
            0.9892470240592957,
            0.003896464826539159
        ],
        "right_vector": [
            -0.9892541170120239,
            -0.14620518684387207,
            0.000484691554447636
        ],
        "location": [
            931.0094604492188,
            3566.40625,
            370.87493896484375
        ],
        "rotation": [
            -0.0277709923684597,
            0.2232515513896942,
            98.40696716308594
        ],
        "velocity": [
            -0.7536842823028564,
            4.949638366699219,
            0.005404128693044186
        ],
        "speed": 5.0066915182075356,
        "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": 14.040016174316406,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                928.2673950195312,
                3580.17578125,
                370.9309387207031
            ],
            "velocity": [
                -1.297579288482666,
                8.13072395324707,
                -0.06199036166071892
            ],
            "speed_kmh": 29.64184710119999,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 986.4259033203125,
                        "y": 3586.569091796875,
                        "z": 370.6688232421875
                    },
                    "rotation": {
                        "roll": 6.670674679298827e-09,
                        "pitch": 0.747953474521637,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": -6.055055901121875e-10,
                    "y": -9.863878464022591e-11,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4752895832061768,
                "transform": {
                    "location": {
                        "x": 927.2237548828125,
                        "y": 3628.206787109375,
                        "z": 370.8841857910156
                    },
                    "rotation": {
                        "roll": 0.0021541195455938578,
                        "pitch": -0.16281120479106903,
                        "yaw": -80.70125579833984
                    }
                },
                "velocity": {
                    "x": 0.41133806109428406,
                    "y": -2.4408726692199707,
                    "z": -0.00021162032498978078
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.3875322341918945,
                "transform": {
                    "location": {
                        "x": 930.473876953125,
                        "y": 3628.4794921875,
                        "z": 370.8663330078125
                    },
                    "rotation": {
                        "roll": 0.00017336307791993022,
                        "pitch": 0.11520479619503021,
                        "yaw": -80.63170623779297
                    }
                },
                "velocity": {
                    "x": 0.40083038806915283,
                    "y": -2.353637933731079,
                    "z": 0.0058410740457475185
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.202392578125,
                        "y": 3487.983154296875,
                        "z": 370.69952392578125
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.348055839538574,
                "transform": {
                    "location": {
                        "x": 970.697021484375,
                        "y": 3583.913330078125,
                        "z": 370.5035095214844
                    },
                    "rotation": {
                        "roll": 0.0022612253669649363,
                        "pitch": 0.6208094954490662,
                        "yaw": -170.64556884765625
                    }
                },
                "velocity": {
                    "x": -7.250703811645508,
                    "y": -1.1895121335983276,
                    "z": 0.07927585393190384
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.6705932617188,
                        "y": 3462.0322265625,
                        "z": 370.5901794433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.077888011932373,
                "transform": {
                    "location": {
                        "x": 933.3494873046875,
                        "y": 3611.115478515625,
                        "z": 370.8828125
                    },
                    "rotation": {
                        "roll": -0.00012207301915623248,
                        "pitch": 0.05845958739519119,
                        "yaw": -80.59603118896484
                    }
                },
                "velocity": {
                    "x": 0.3347318172454834,
                    "y": -2.050748825073242,
                    "z": 0.0016001033363863826
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.843799591064453,
                "transform": {
                    "location": {
                        "x": 930.4434814453125,
                        "y": 3608.732666015625,
                        "z": 370.8949890136719
                    },
                    "rotation": {
                        "roll": -0.000518802204169333,
                        "pitch": 0.13053174316883087,
                        "yaw": -80.68412017822266
                    }
                },
                "velocity": {
                    "x": 0.9447003602981567,
                    "y": -5.766933441162109,
                    "z": 0.003462200053036213
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00035549525637179613,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.055908203125,
                        "z": 370.8919372558594
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.02880973555147648,
                        "yaw": -77.3759536743164
                    }
                },
                "velocity": {
                    "x": 3.666636985144578e-05,
                    "y": 0.00011327255197102204,
                    "z": 0.00033496535615995526
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2538838386535645,
                "transform": {
                    "location": {
                        "x": 932.9130249023438,
                        "y": 3593.326904296875,
                        "z": 370.9015197753906
                    },
                    "rotation": {
                        "roll": -0.0439758226275444,
                        "pitch": 0.11968539655208588,
                        "yaw": -81.43650817871094
                    }
                },
                "velocity": {
                    "x": 0.17106963694095612,
                    "y": -2.247382164001465,
                    "z": -0.001074724132195115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015781968832015991,
                "transform": {
                    "location": {
                        "x": 952.67919921875,
                        "y": 3580.970458984375,
                        "z": 370.6947937011719
                    },
                    "rotation": {
                        "roll": 0.00014565052697435021,
                        "pitch": 0.4946081340312958,
                        "yaw": -170.7068328857422
                    }
                },
                "velocity": {
                    "x": 0.00020487360598053783,
                    "y": 1.4210157132765744e-05,
                    "z": 0.0015647780383005738
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.049854278564453,
                "transform": {
                    "location": {
                        "x": 940.554443359375,
                        "y": 3503.81396484375,
                        "z": 370.75738525390625
                    },
                    "rotation": {
                        "roll": 0.0017044047126546502,
                        "pitch": 0.149041548371315,
                        "yaw": 99.15625762939453
                    }
                },
                "velocity": {
                    "x": -1.2811328172683716,
                    "y": 7.947214603424072,
                    "z": 0.025202130898833275
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.2947387695312,
                        "y": 3476.795166015625,
                        "z": 370.6526184082031
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002911354531534016,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -2.05764195015945e-06,
                    "y": 9.930878377417685e-07,
                    "z": 0.00029112648917362094
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.06451242417097092,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8515930175781
                    },
                    "rotation": {
                        "roll": -0.000427247112384066,
                        "pitch": -0.04367222636938095,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 3.737856968655251e-05,
                    "y": -2.8491243938333355e-05,
                    "z": -0.06451240181922913
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005102357245050371,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -0.0003356948436703533,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 4.373282536107581e-06,
                    "y": 5.110632628202438e-06,
                    "z": 0.000510191370267421
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.02332325652241707,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8703918457031
                    },
                    "rotation": {
                        "roll": -0.0007629386382177472,
                        "pitch": -0.04581007733941078,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.00018350599566474557,
                    "y": -7.592388101329561e-06,
                    "z": -0.023322531953454018
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4845,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.3473510742188,
                        "y": 3490.75146484375,
                        "z": 370.7061767578125
                    },
                    "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": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.9048461914062,
                        "y": 3491.64501953125,
                        "z": 370.71099853515625
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.616838455200195,
                "transform": {
                    "location": {
                        "x": 940.3614501953125,
                        "y": 3525.45361328125,
                        "z": 370.8453369140625
                    },
                    "rotation": {
                        "roll": -0.0018615899607539177,
                        "pitch": 0.24189797043800354,
                        "yaw": 98.96066284179688
                    }
                },
                "velocity": {
                    "x": -0.7319680452346802,
                    "y": 4.558432579040527,
                    "z": 0.01060890220105648
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.458519458770752,
                "transform": {
                    "location": {
                        "x": 937.5872192382812,
                        "y": 3542.6845703125,
                        "z": 370.85113525390625
                    },
                    "rotation": {
                        "roll": 0.0034567816182971,
                        "pitch": 0.2716502547264099,
                        "yaw": 99.17325592041016
                    }
                },
                "velocity": {
                    "x": -1.0264517068862915,
                    "y": 6.3764214515686035,
                    "z": 0.011079768650233746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.233846664428711,
                "transform": {
                    "location": {
                        "x": 928.2673950195312,
                        "y": 3580.17578125,
                        "z": 370.9309387207031
                    },
                    "rotation": {
                        "roll": -0.39837646484375,
                        "pitch": -0.10877075791358948,
                        "yaw": 99.12638092041016
                    }
                },
                "velocity": {
                    "x": -1.297579288482666,
                    "y": 8.13072395324707,
                    "z": -0.06199036166071892
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030040740966797,
                "transform": {
                    "location": {
                        "x": 887.9146728515625,
                        "y": 3570.787109375,
                        "z": 371.2506103515625
                    },
                    "rotation": {
                        "roll": -0.0002441408869344741,
                        "pitch": 0.36648061871528625,
                        "yaw": -170.878173828125
                    }
                },
                "velocity": {
                    "x": -7.927882671356201,
                    "y": -1.2757123708724976,
                    "z": 0.052865829318761826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0232515335083,
                "transform": {
                    "location": {
                        "x": 943.4149780273438,
                        "y": 3506.57275390625,
                        "z": 370.7586975097656
                    },
                    "rotation": {
                        "roll": 0.0006825282471254468,
                        "pitch": 0.16908815503120422,
                        "yaw": 98.9703369140625
                    }
                },
                "velocity": {
                    "x": -1.27311372756958,
                    "y": 7.921561241149902,
                    "z": 0.024629706516861916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.875951766967773,
                "transform": {
                    "location": {
                        "x": 934.93359375,
                        "y": 3559.1884765625,
                        "z": 370.86932373046875
                    },
                    "rotation": {
                        "roll": -0.0006103470223024487,
                        "pitch": -0.2456682324409485,
                        "yaw": 99.13105773925781
                    }
                },
                "velocity": {
                    "x": -0.7746541500091553,
                    "y": 4.814022064208984,
                    "z": 0.0022554874885827303
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.558757781982422,
                "transform": {
                    "location": {
                        "x": 934.2780151367188,
                        "y": 3576.01953125,
                        "z": 370.88665771484375
                    },
                    "rotation": {
                        "roll": 0.26855573058128357,
                        "pitch": -0.26061952114105225,
                        "yaw": 68.49018096923828
                    }
                },
                "velocity": {
                    "x": 3.2129061222076416,
                    "y": 6.84182596206665,
                    "z": -0.03835640475153923
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.447214275598526,
        "expert_target_speed": 5.787064848432392,
        "target_point": [
            21.760515149956632,
            0.7018744708254752
        ],
        "target_point_next": [
            39.75894392316561,
            0.9329729298744622
        ]
    },
    "745": {
        "acceleration": [
            0.1420307159423828,
            -1.430063247680664,
            0.007851026020944118
        ],
        "angular_velocity": [
            -0.6301884651184082,
            -0.10453513264656067,
            0.8707098364830017
        ],
        "forward_vector": [
            -0.15011054277420044,
            0.9886682033538818,
            0.001429914846085012
        ],
        "right_vector": [
            -0.9886689782142639,
            -0.1501113772392273,
            0.0004932167939841747
        ],
        "location": [
            930.8204956054688,
            3567.636474609375,
            370.8763732910156
        ],
        "rotation": [
            -0.028259269893169403,
            0.08192811161279678,
            98.63333892822266
        ],
        "velocity": [
            -0.753607451915741,
            4.8220391273498535,
            0.0036461828276515007
        ],
        "speed": 4.880572255102456,
        "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": 14.825590133666992,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                927.9470825195312,
                3582.180908203125,
                370.9092102050781
            ],
            "velocity": [
                -1.2835311889648438,
                7.955199241638184,
                -0.0293385349214077
            ],
            "speed_kmh": 29.00927893204888,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.45494064688682556,
                "transform": {
                    "location": {
                        "x": 986.4246826171875,
                        "y": 3586.568603515625,
                        "z": 370.27264404296875
                    },
                    "rotation": {
                        "roll": 0.0002842767571564764,
                        "pitch": 0.7366973161697388,
                        "yaw": -170.74749755859375
                    }
                },
                "velocity": {
                    "x": -0.005735589656978846,
                    "y": -0.0010688103502616286,
                    "z": -0.454903244972229
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.569847583770752,
                "transform": {
                    "location": {
                        "x": 927.3511352539062,
                        "y": 3627.454833984375,
                        "z": 370.8834228515625
                    },
                    "rotation": {
                        "roll": 0.001936060842126608,
                        "pitch": -0.0937580019235611,
                        "yaw": -80.57093811035156
                    }
                },
                "velocity": {
                    "x": 0.6023294925689697,
                    "y": -3.5186662673950195,
                    "z": -6.561278860317543e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.565464496612549,
                "transform": {
                    "location": {
                        "x": 930.6036987304688,
                        "y": 3627.7119140625,
                        "z": 370.86724853515625
                    },
                    "rotation": {
                        "roll": -0.0004577638756018132,
                        "pitch": 0.12764939665794373,
                        "yaw": -80.46785736083984
                    }
                },
                "velocity": {
                    "x": 0.5977764129638672,
                    "y": -3.5149950981140137,
                    "z": 0.003097476903349161
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.8831787109375,
                        "y": 3489.966552734375,
                        "z": 370.7068176269531
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.273207664489746,
                "transform": {
                    "location": {
                        "x": 968.8903198242188,
                        "y": 3583.61669921875,
                        "z": 370.5234680175781
                    },
                    "rotation": {
                        "roll": 0.0018458416452631354,
                        "pitch": 0.5862078070640564,
                        "yaw": -170.68499755859375
                    }
                },
                "velocity": {
                    "x": -7.177322864532471,
                    "y": -1.1746102571487427,
                    "z": 0.07669159024953842
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.35107421875,
                        "y": 3464.01806640625,
                        "z": 370.5988464355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6383070945739746,
                "transform": {
                    "location": {
                        "x": 933.4451904296875,
                        "y": 3610.53125,
                        "z": 370.88323974609375
                    },
                    "rotation": {
                        "roll": 0.0002670811954885721,
                        "pitch": 0.05747603997588158,
                        "yaw": -80.63740539550781
                    }
                },
                "velocity": {
                    "x": 0.42453473806381226,
                    "y": -2.603925943374634,
                    "z": 0.002199525712057948
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.264647483825684,
                "transform": {
                    "location": {
                        "x": 930.69921875,
                        "y": 3607.166748046875,
                        "z": 370.8949890136719
                    },
                    "rotation": {
                        "roll": 0.0052926745265722275,
                        "pitch": 0.2542537748813629,
                        "yaw": -80.73649597167969
                    }
                },
                "velocity": {
                    "x": 1.0073052644729614,
                    "y": -6.183132648468018,
                    "z": 0.003841514466330409
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00067200290504843,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.8917236328125
                    },
                    "rotation": {
                        "roll": 0.00027253510779701173,
                        "pitch": -0.001857811352238059,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -1.078071818483295e-06,
                    "y": 8.693672498338856e-06,
                    "z": 0.0006719458033330739
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014691716060042381,
                "transform": {
                    "location": {
                        "x": 932.9347534179688,
                        "y": 3593.09521484375,
                        "z": 370.9007873535156
                    },
                    "rotation": {
                        "roll": 0.023017270490527153,
                        "pitch": 0.2146250158548355,
                        "yaw": -81.96746063232422
                    }
                },
                "velocity": {
                    "x": -0.0001342487521469593,
                    "y": 0.0008400494698435068,
                    "z": -0.0011978144757449627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00014725662185810506,
                "transform": {
                    "location": {
                        "x": 952.6787109375,
                        "y": 3580.970458984375,
                        "z": 370.69427490234375
                    },
                    "rotation": {
                        "roll": 0.0002496140659786761,
                        "pitch": 0.5623840689659119,
                        "yaw": -170.7068328857422
                    }
                },
                "velocity": {
                    "x": 8.95187258720398e-06,
                    "y": 0.00010285885946359485,
                    "z": 0.00010499729251023382
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.044425010681152,
                "transform": {
                    "location": {
                        "x": 940.2348022460938,
                        "y": 3505.79736328125,
                        "z": 370.7632751464844
                    },
                    "rotation": {
                        "roll": 0.0012846869649365544,
                        "pitch": 0.15074226260185242,
                        "yaw": 99.16932678222656
                    }
                },
                "velocity": {
                    "x": -1.28016197681427,
                    "y": 7.941874027252197,
                    "z": 0.024450883269309998
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.9744873046875,
                        "y": 3478.784912109375,
                        "z": 370.6609191894531
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005258412566035986,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 4.026755959785078e-06,
                    "y": 8.054640602495056e-06,
                    "z": 0.0005257641314528883
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.10081604868173599,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8668212890625
                    },
                    "rotation": {
                        "roll": 5.391615195549093e-05,
                        "pitch": -0.04446452856063843,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 4.458770945348078e-06,
                    "y": 8.103730215225369e-05,
                    "z": 0.1008160188794136
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.803342254599556e-05,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -0.0003356948436703533,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.839281352062244e-06,
                    "y": 2.3964187221281463e-06,
                    "z": -9.76900992100127e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0074705383740365505,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8719787597656
                    },
                    "rotation": {
                        "roll": -0.00039673136780038476,
                        "pitch": -0.04593301936984062,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00010477163596078753,
                    "y": 6.181687058415264e-05,
                    "z": 0.007469547912478447
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.585205078125,
                        "y": 3493.6318359375,
                        "z": 370.7182312011719
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.243247985839844,
                "transform": {
                    "location": {
                        "x": 940.1590576171875,
                        "y": 3526.71923828125,
                        "z": 370.84893798828125
                    },
                    "rotation": {
                        "roll": -0.0013122468953952193,
                        "pitch": 0.22529377043247223,
                        "yaw": 99.05645751953125
                    }
                },
                "velocity": {
                    "x": -0.8318885564804077,
                    "y": 5.176817893981934,
                    "z": 0.012903652153909206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.812500476837158,
                "transform": {
                    "location": {
                        "x": 937.28857421875,
                        "y": 3544.541259765625,
                        "z": 370.85406494140625
                    },
                    "rotation": {
                        "roll": 0.002471456304192543,
                        "pitch": 0.3588922619819641,
                        "yaw": 99.13348388671875
                    }
                },
                "velocity": {
                    "x": -1.2405227422714233,
                    "y": 7.713372230529785,
                    "z": 0.01234808936715126
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.058133125305176,
                "transform": {
                    "location": {
                        "x": 927.9470825195312,
                        "y": 3582.180908203125,
                        "z": 370.9092102050781
                    },
                    "rotation": {
                        "roll": -0.0985107570886612,
                        "pitch": -0.8993241190910339,
                        "yaw": 99.16932678222656
                    }
                },
                "velocity": {
                    "x": -1.2835311889648438,
                    "y": 7.955199241638184,
                    "z": -0.0293385349214077
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029678344726562,
                "transform": {
                    "location": {
                        "x": 885.9328002929688,
                        "y": 3570.468994140625,
                        "z": 371.26324462890625
                    },
                    "rotation": {
                        "roll": 0.0008194016409106553,
                        "pitch": 0.3555796146392822,
                        "yaw": -170.84597778320312
                    }
                },
                "velocity": {
                    "x": -7.927677631378174,
                    "y": -1.2748578786849976,
                    "z": 0.04891017824411392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.082073211669922,
                "transform": {
                    "location": {
                        "x": 943.0947265625,
                        "y": 3508.561279296875,
                        "z": 370.7645568847656
                    },
                    "rotation": {
                        "roll": -0.0024719189386814833,
                        "pitch": 0.16966189444065094,
                        "yaw": 99.0068130493164
                    }
                },
                "velocity": {
                    "x": -1.286816954612732,
                    "y": 7.978935241699219,
                    "z": 0.024502458050847054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.195988655090332,
                "transform": {
                    "location": {
                        "x": 934.7328491210938,
                        "y": 3560.435546875,
                        "z": 370.8699035644531
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.0007308301865123212,
                        "yaw": 99.13341522216797
                    }
                },
                "velocity": {
                    "x": -0.8251387476921082,
                    "y": 5.130049705505371,
                    "z": 0.005998086649924517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.1127290725708,
                "transform": {
                    "location": {
                        "x": 935.33349609375,
                        "y": 3577.6416015625,
                        "z": 370.8748779296875
                    },
                    "rotation": {
                        "roll": 0.4196634590625763,
                        "pitch": -0.3285799026489258,
                        "yaw": 55.32101058959961
                    }
                },
                "velocity": {
                    "x": 5.015875816345215,
                    "y": 6.376077175140381,
                    "z": -0.054810862988233566
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.45537468791007996,
        "expert_target_speed": 5.71503595237343,
        "target_point": [
            20.51846762869393,
            0.6137381834155469
        ],
        "target_point_next": [
            38.517669000006265,
            0.7737219232142865
        ]
    },
    "750": {
        "acceleration": [
            0.523308515548706,
            -3.6174774169921875,
            -0.0058538466691970825
        ],
        "angular_velocity": [
            -0.8820400834083557,
            -0.16014589369297028,
            0.7059383392333984
        ],
        "forward_vector": [
            -0.15357182919979095,
            0.9881349802017212,
            -0.002219555666670203
        ],
        "right_vector": [
            -0.9881374835968018,
            -0.15357132256031036,
            0.00039521214785054326
        ],
        "location": [
            930.643798828125,
            3568.75830078125,
            370.87811279296875
        ],
        "rotation": [
            -0.02264404296875,
            -0.12717127799987793,
            98.83399963378906
        ],
        "velocity": [
            -0.6551554203033447,
            4.098007678985596,
            0.003113126615062356
        ],
        "speed": 4.150047657771867,
        "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": 15.70296573638916,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                927.6267700195312,
                3584.168701171875,
                370.8937683105469
            ],
            "velocity": [
                -1.2866697311401367,
                7.928987979888916,
                -0.06404291838407516
            ],
            "speed_kmh": 28.918661493477664,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.13362723588943481,
                "transform": {
                    "location": {
                        "x": 986.4249267578125,
                        "y": 3586.568603515625,
                        "z": 370.2883605957031
                    },
                    "rotation": {
                        "roll": -0.0002746575919445604,
                        "pitch": 0.7357547879219055,
                        "yaw": -170.74746704101562
                    }
                },
                "velocity": {
                    "x": 0.0017461093375459313,
                    "y": 8.779253403190523e-05,
                    "z": 0.13361579179763794
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.698616027832031,
                "transform": {
                    "location": {
                        "x": 927.5256958007812,
                        "y": 3626.428955078125,
                        "z": 370.88385009765625
                    },
                    "rotation": {
                        "roll": 0.0020317896269261837,
                        "pitch": -0.07642298191785812,
                        "yaw": -80.459716796875
                    }
                },
                "velocity": {
                    "x": 0.7925012707710266,
                    "y": -4.631299018859863,
                    "z": 0.0020834922324866056
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.996971607208252,
                "transform": {
                    "location": {
                        "x": 930.7874145507812,
                        "y": 3626.630859375,
                        "z": 370.8680419921875
                    },
                    "rotation": {
                        "roll": -0.0005493179778568447,
                        "pitch": 0.12818898260593414,
                        "yaw": -80.3122787475586
                    }
                },
                "velocity": {
                    "x": 0.842484712600708,
                    "y": -4.925437927246094,
                    "z": 0.002482089912518859
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.5628662109375,
                        "y": 3491.95751953125,
                        "z": 370.7140197753906
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.873917579650879,
                "transform": {
                    "location": {
                        "x": 967.1460571289062,
                        "y": 3583.3310546875,
                        "z": 370.5419921875
                    },
                    "rotation": {
                        "roll": 0.001466665300540626,
                        "pitch": 0.5819252729415894,
                        "yaw": -170.6989288330078
                    }
                },
                "velocity": {
                    "x": -6.783203125,
                    "y": -1.1107949018478394,
                    "z": 0.07095038890838623
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.031005859375,
                        "y": 3466.006103515625,
                        "z": 370.6072082519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.439091444015503,
                "transform": {
                    "location": {
                        "x": 933.55419921875,
                        "y": 3609.8642578125,
                        "z": 370.8837890625
                    },
                    "rotation": {
                        "roll": 0.0004455415182746947,
                        "pitch": 0.03927358612418175,
                        "yaw": -80.6731948852539
                    }
                },
                "velocity": {
                    "x": 0.39218854904174805,
                    "y": -2.4073538780212402,
                    "z": 0.0015473270323127508
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.2592227458953857,
                "transform": {
                    "location": {
                        "x": 930.868896484375,
                        "y": 3606.21337890625,
                        "z": 370.9026794433594
                    },
                    "rotation": {
                        "roll": 0.028551850467920303,
                        "pitch": -0.6567636132240295,
                        "yaw": -81.9839859008789
                    }
                },
                "velocity": {
                    "x": 0.5194015502929688,
                    "y": -3.217568874359131,
                    "z": 0.002143335295841098
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008954210788942873,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0001342616305919364,
                        "pitch": 0.001611924497410655,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -8.363530650967732e-05,
                    "y": -1.4140482562652323e-05,
                    "z": 0.0008913944475352764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011381229851394892,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9022521972656
                    },
                    "rotation": {
                        "roll": 0.004608250223100185,
                        "pitch": 0.02869362384080887,
                        "yaw": -81.96742248535156
                    }
                },
                "velocity": {
                    "x": 2.3205178877105936e-05,
                    "y": 0.0004751998349092901,
                    "z": -0.0010339103173464537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005992396036162972,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.0002998960844706744,
                        "pitch": 0.5687429904937744,
                        "yaw": -170.7067413330078
                    }
                },
                "velocity": {
                    "x": 3.4435168345225975e-05,
                    "y": -4.304439789848402e-05,
                    "z": 0.0005966988392174244
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091052055358887,
                "transform": {
                    "location": {
                        "x": 939.9135131835938,
                        "y": 3507.7900390625,
                        "z": 370.76885986328125
                    },
                    "rotation": {
                        "roll": 0.0016402275068685412,
                        "pitch": 0.18283049762248993,
                        "yaw": 99.13667297363281
                    }
                },
                "velocity": {
                    "x": -1.285325288772583,
                    "y": 7.9882707595825195,
                    "z": 0.024431094527244568
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.6551513671875,
                        "y": 3480.7685546875,
                        "z": 370.66900634765625
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002846800198312849,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -6.870868219266413e-06,
                    "y": 1.3324757901500561e-06,
                    "z": 0.0002845939889084548
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01688683032989502,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.88177490234375
                    },
                    "rotation": {
                        "roll": 0.0002118876582244411,
                        "pitch": -0.04434158653020859,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -4.698115662904456e-05,
                    "y": 2.1683983959519537e-06,
                    "z": 0.016886765137314796
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009171892888844013,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": -0.03820807486772537,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -7.798007573001087e-06,
                    "y": 2.4724658942432143e-06,
                    "z": 0.0009171527926810086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00429542688652873,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8736267089844
                    },
                    "rotation": {
                        "roll": 4.65006596641615e-05,
                        "pitch": -0.04619939625263214,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0003150762931909412,
                    "y": 5.836965283378959e-05,
                    "z": 0.00428345799446106
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.2654418945312,
                        "y": 3495.618408203125,
                        "z": 370.72503662109375
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.60892915725708,
                "transform": {
                    "location": {
                        "x": 939.9417724609375,
                        "y": 3528.072998046875,
                        "z": 370.85260009765625
                    },
                    "rotation": {
                        "roll": -0.0006103580235503614,
                        "pitch": 0.18743404746055603,
                        "yaw": 99.1050033569336
                    }
                },
                "velocity": {
                    "x": -0.8901285529136658,
                    "y": 5.5378313064575195,
                    "z": 0.013601026497781277
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.748354911804199,
                "transform": {
                    "location": {
                        "x": 937.0003662109375,
                        "y": 3546.3330078125,
                        "z": 370.85687255859375
                    },
                    "rotation": {
                        "roll": 0.00038480511284433305,
                        "pitch": -0.00915928278118372,
                        "yaw": 99.1597671508789
                    }
                },
                "velocity": {
                    "x": -1.0719587802886963,
                    "y": 6.662662029266357,
                    "z": 0.01141415536403656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.03296184539795,
                "transform": {
                    "location": {
                        "x": 927.6267700195312,
                        "y": 3584.168701171875,
                        "z": 370.8937683105469
                    },
                    "rotation": {
                        "roll": 0.013426032848656178,
                        "pitch": -0.11752022802829742,
                        "yaw": 99.21955108642578
                    }
                },
                "velocity": {
                    "x": -1.2866697311401367,
                    "y": 7.928987979888916,
                    "z": -0.06404291838407516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030567169189453,
                "transform": {
                    "location": {
                        "x": 883.950927734375,
                        "y": 3570.14990234375,
                        "z": 371.2756042480469
                    },
                    "rotation": {
                        "roll": 0.0008575162501074374,
                        "pitch": 0.346987247467041,
                        "yaw": -170.88027954101562
                    }
                },
                "velocity": {
                    "x": -7.928460597991943,
                    "y": -1.275603175163269,
                    "z": 0.04856542497873306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01281452178955,
                "transform": {
                    "location": {
                        "x": 942.7752685546875,
                        "y": 3510.54638671875,
                        "z": 370.7702941894531
                    },
                    "rotation": {
                        "roll": 0.0013414304703474045,
                        "pitch": 0.16283169388771057,
                        "yaw": 98.97673797607422
                    }
                },
                "velocity": {
                    "x": -1.2715731859207153,
                    "y": 7.9112467765808105,
                    "z": 0.021803617477416992
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.649837970733643,
                "transform": {
                    "location": {
                        "x": 934.5252685546875,
                        "y": 3561.726806640625,
                        "z": 370.8706970214844
                    },
                    "rotation": {
                        "roll": -0.0008239728631451726,
                        "pitch": 0.10215913504362106,
                        "yaw": 99.13391876220703
                    }
                },
                "velocity": {
                    "x": -0.897994875907898,
                    "y": 5.578013896942139,
                    "z": 0.005843114573508501
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.137663841247559,
                "transform": {
                    "location": {
                        "x": 936.7744140625,
                        "y": 3579.104248046875,
                        "z": 370.8597106933594
                    },
                    "rotation": {
                        "roll": 0.5241956114768982,
                        "pitch": -0.42916807532310486,
                        "yaw": 43.33023452758789
                    }
                },
                "velocity": {
                    "x": 6.1620402336120605,
                    "y": 5.314769268035889,
                    "z": -0.06366713345050812
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.43462491035461426,
        "expert_target_speed": 5.0858983161236,
        "target_point": [
            19.384836658115212,
            0.5395708890555739
        ],
        "target_point_next": [
            37.38448786361899,
            0.6365310987199173
        ]
    },
    "755": {
        "acceleration": [
            0.4705679416656494,
            -3.1258678436279297,
            -0.009401131421327591
        ],
        "angular_velocity": [
            -0.20352041721343994,
            -0.12449483573436737,
            1.1912498474121094
        ],
        "forward_vector": [
            -0.156379833817482,
            0.9876863360404968,
            -0.004574759863317013
        ],
        "right_vector": [
            -0.9876968264579773,
            -0.15638017654418945,
            0.0002838901709765196
        ],
        "location": [
            930.497314453125,
            3569.669921875,
            370.8795166015625
        ],
        "rotation": [
            -0.016265878453850746,
            -0.26211532950401306,
            98.9969253540039
        ],
        "velocity": [
            -0.5315198302268982,
            3.262207508087158,
            0.0016592502361163497
        ],
        "speed": 3.3052248268074984,
        "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": 54.90935516357422,
        "front_vehicle_info": {
            "id": 4847,
            "type": "vehicle.ford.mustang",
            "location": [
                921.3428955078125,
                3623.810791015625,
                370.8751220703125
            ],
            "velocity": [
                -6.678479280708416e-07,
                1.8040043414657703e-06,
                0.0003461513260845095
            ],
            "speed_kmh": 0.0012461640162488572,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.267816424369812,
                "transform": {
                    "location": {
                        "x": 986.2127685546875,
                        "y": 3586.530517578125,
                        "z": 370.309326171875
                    },
                    "rotation": {
                        "roll": -0.0007019025506451726,
                        "pitch": 0.7933605909347534,
                        "yaw": -170.63291931152344
                    }
                },
                "velocity": {
                    "x": -1.2457319498062134,
                    "y": -0.23126749694347382,
                    "z": 0.045009009540081024
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.239590167999268,
                "transform": {
                    "location": {
                        "x": 927.7413940429688,
                        "y": 3625.16455078125,
                        "z": 370.884521484375
                    },
                    "rotation": {
                        "roll": 0.0010331211378797889,
                        "pitch": -0.029479095712304115,
                        "yaw": -80.3785171508789
                    }
                },
                "velocity": {
                    "x": 0.8840130567550659,
                    "y": -5.164474964141846,
                    "z": 0.004819297697395086
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.002326011657715,
                "transform": {
                    "location": {
                        "x": 931.0187377929688,
                        "y": 3625.27685546875,
                        "z": 370.86907958984375
                    },
                    "rotation": {
                        "roll": 0.00041007212712429464,
                        "pitch": 0.10257577896118164,
                        "yaw": -80.26355743408203
                    }
                },
                "velocity": {
                    "x": 1.0112626552581787,
                    "y": -5.9165239334106445,
                    "z": 0.003093175822868943
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.2415161132812,
                        "y": 3493.95361328125,
                        "z": 370.7211608886719
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.422322750091553,
                "transform": {
                    "location": {
                        "x": 965.4906005859375,
                        "y": 3583.059814453125,
                        "z": 370.55963134765625
                    },
                    "rotation": {
                        "roll": 0.0010788468644022942,
                        "pitch": 0.5727249979972839,
                        "yaw": -170.7086639404297
                    }
                },
                "velocity": {
                    "x": -6.337741374969482,
                    "y": -1.0366939306259155,
                    "z": 0.06733279675245285
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.7120971679688,
                        "y": 3467.98828125,
                        "z": 370.6155700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.20440469682216644,
                "transform": {
                    "location": {
                        "x": 933.5999755859375,
                        "y": 3609.5859375,
                        "z": 370.8846435546875
                    },
                    "rotation": {
                        "roll": 0.00031305148149840534,
                        "pitch": -0.03585848957300186,
                        "yaw": -80.71710968017578
                    }
                },
                "velocity": {
                    "x": 0.03286361321806908,
                    "y": -0.20173996686935425,
                    "z": 0.0014995288802310824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.775089979171753,
                "transform": {
                    "location": {
                        "x": 931.007568359375,
                        "y": 3605.3203125,
                        "z": 370.8979187011719
                    },
                    "rotation": {
                        "roll": 0.011154450476169586,
                        "pitch": 0.028843887150287628,
                        "yaw": -81.63237762451172
                    }
                },
                "velocity": {
                    "x": 0.5897456407546997,
                    "y": -3.7287395000457764,
                    "z": 0.002153902081772685
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005391940358094871,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.000553249497897923,
                        "pitch": 0.0018373207421973348,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -7.859704055590555e-06,
                    "y": -2.367861497987178e-06,
                    "z": 0.000539131520781666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016949301061686128,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9024963378906
                    },
                    "rotation": {
                        "roll": 0.0014295276487246156,
                        "pitch": 0.0006693585310131311,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 1.5316492863348685e-05,
                    "y": 6.856740219518542e-05,
                    "z": -0.00015424589219037443
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.926890323986299e-05,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.0005426600109785795,
                        "pitch": 0.5700270533561707,
                        "yaw": -170.7067413330078
                    }
                },
                "velocity": {
                    "x": 1.842632809712086e-05,
                    "y": -1.0584667506918777e-05,
                    "z": -4.44506476924289e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076310157775879,
                "transform": {
                    "location": {
                        "x": 939.5924072265625,
                        "y": 3509.785888671875,
                        "z": 370.77484130859375
                    },
                    "rotation": {
                        "roll": 0.0005755592719651759,
                        "pitch": 0.16866467893123627,
                        "yaw": 99.15666198730469
                    }
                },
                "velocity": {
                    "x": -1.283345341682434,
                    "y": 7.973662376403809,
                    "z": 0.022821320220828056
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.3363647460938,
                        "y": 3482.74951171875,
                        "z": 370.67706298828125
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.588954834616743e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 3.983266694262966e-08,
                    "y": -1.331092818190882e-07,
                    "z": 4.588933734339662e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.009995435364544392,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8808898925781
                    },
                    "rotation": {
                        "roll": -0.0001831061381381005,
                        "pitch": -0.04451917111873627,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 1.7891030438477173e-05,
                    "y": 5.947561021457659e-06,
                    "z": -0.009995417669415474
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003461566520854831,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -0.0001220729755004868,
                        "pitch": -0.03817392513155937,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -6.678479280708416e-07,
                    "y": 1.8040043414657703e-06,
                    "z": 0.0003461513260845095
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0018194867298007011,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87396240234375
                    },
                    "rotation": {
                        "roll": 0.000377396383555606,
                        "pitch": -0.04626086726784706,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.704781991269556e-06,
                    "y": 9.271167073165998e-06,
                    "z": 0.0018194611184298992
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.948486328125,
                        "y": 3497.587646484375,
                        "z": 370.73175048828125
                    },
                    "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.094502449035645,
                "transform": {
                    "location": {
                        "x": 939.6624755859375,
                        "y": 3529.810791015625,
                        "z": 370.85552978515625
                    },
                    "rotation": {
                        "roll": 0.00040771131170913577,
                        "pitch": 0.35297733545303345,
                        "yaw": 99.12466430664062
                    }
                },
                "velocity": {
                    "x": -1.2836484909057617,
                    "y": 7.992048263549805,
                    "z": 0.019532060250639915
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.484924793243408,
                "transform": {
                    "location": {
                        "x": 936.7817993164062,
                        "y": 3547.69140625,
                        "z": 370.8586730957031
                    },
                    "rotation": {
                        "roll": -0.0010986360721290112,
                        "pitch": -0.31194838881492615,
                        "yaw": 99.15245056152344
                    }
                },
                "velocity": {
                    "x": -0.7138054370880127,
                    "y": 4.427752494812012,
                    "z": 0.006448287982493639
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056772232055664,
                "transform": {
                    "location": {
                        "x": 927.3048095703125,
                        "y": 3586.155029296875,
                        "z": 370.8896484375
                    },
                    "rotation": {
                        "roll": 0.005773643031716347,
                        "pitch": 0.1035115122795105,
                        "yaw": 99.19928741455078
                    }
                },
                "velocity": {
                    "x": -1.2853378057479858,
                    "y": 7.953566551208496,
                    "z": 0.01632673293352127
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029056549072266,
                "transform": {
                    "location": {
                        "x": 881.9690551757812,
                        "y": 3569.8310546875,
                        "z": 371.2878112792969
                    },
                    "rotation": {
                        "roll": 0.00025935686426237226,
                        "pitch": 0.348148375749588,
                        "yaw": -170.84378051757812
                    }
                },
                "velocity": {
                    "x": -7.927064418792725,
                    "y": -1.274767279624939,
                    "z": 0.04866987094283104
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.787813186645508,
                "transform": {
                    "location": {
                        "x": 942.4593505859375,
                        "y": 3512.50927734375,
                        "z": 370.77581787109375
                    },
                    "rotation": {
                        "roll": -0.0020752083510160446,
                        "pitch": 0.12210328876972198,
                        "yaw": 98.98592376708984
                    }
                },
                "velocity": {
                    "x": -1.239633321762085,
                    "y": 7.68848991394043,
                    "z": 0.02155901864171028
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.5871195793151855,
                "transform": {
                    "location": {
                        "x": 934.2950439453125,
                        "y": 3563.158447265625,
                        "z": 370.8719177246094
                    },
                    "rotation": {
                        "roll": 0.0005076628876850009,
                        "pitch": 0.12073041498661041,
                        "yaw": 99.13552856445312
                    }
                },
                "velocity": {
                    "x": -0.8870624303817749,
                    "y": 5.5162482261657715,
                    "z": 0.005337619688361883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.946279048919678,
                "transform": {
                    "location": {
                        "x": 938.39404296875,
                        "y": 3580.268310546875,
                        "z": 370.8435974121094
                    },
                    "rotation": {
                        "roll": 0.3737127482891083,
                        "pitch": -0.4742678105831146,
                        "yaw": 34.081016540527344
                    }
                },
                "velocity": {
                    "x": 6.722580432891846,
                    "y": 4.235987663269043,
                    "z": -0.08165846765041351
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4354574382305145,
        "expert_target_speed": 4.322539491305522,
        "target_point": [
            18.46298022878871,
            0.4823148978013898
        ],
        "target_point_next": [
            36.462834399551184,
            0.5280820621945272
        ]
    },
    "760": {
        "acceleration": [
            0.39277732372283936,
            -2.6952743530273438,
            0.02282503992319107
        ],
        "angular_velocity": [
            0.4030826985836029,
            -0.4820513129234314,
            -0.3756394684314728
        ],
        "forward_vector": [
            -0.1584896594285965,
            0.9873509407043457,
            -0.004380926955491304
        ],
        "right_vector": [
            -0.9873597025871277,
            -0.1584940403699875,
            -0.0006715704803355038
        ],
        "location": [
            930.379638671875,
            3570.39013671875,
            370.880615234375
        ],
        "rotation": [
            0.03847852721810341,
            -0.25100943446159363,
            99.11933135986328
        ],
        "velocity": [
            -0.42593467235565186,
            2.5458033084869385,
            0.008977307938039303
        ],
        "speed": 2.5811886468481453,
        "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": 18.07636070251465,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                926.983154296875,
                3588.14453125,
                370.89288330078125
            ],
            "velocity": [
                -1.286632776260376,
                7.962255001068115,
                0.005095319822430611
            ],
            "speed_kmh": 29.035948256701463,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8045480251312256,
                "transform": {
                    "location": {
                        "x": 985.8638305664062,
                        "y": 3586.470458984375,
                        "z": 370.31683349609375
                    },
                    "rotation": {
                        "roll": 0.002581152133643627,
                        "pitch": 0.7832587361335754,
                        "yaw": -170.53366088867188
                    }
                },
                "velocity": {
                    "x": -1.7782156467437744,
                    "y": -0.3059283494949341,
                    "z": 0.02739456109702587
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.919859886169434,
                "transform": {
                    "location": {
                        "x": 927.9778442382812,
                        "y": 3623.779296875,
                        "z": 370.8854064941406
                    },
                    "rotation": {
                        "roll": 0.0015892154769971967,
                        "pitch": -0.020053435117006302,
                        "yaw": -80.3088607788086
                    }
                },
                "velocity": {
                    "x": 0.9990785717964172,
                    "y": -5.834944248199463,
                    "z": 0.0033133600372821093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.993294715881348,
                "transform": {
                    "location": {
                        "x": 931.3292236328125,
                        "y": 3623.461181640625,
                        "z": 370.8699645996094
                    },
                    "rotation": {
                        "roll": 0.003883303375914693,
                        "pitch": 0.15431445837020874,
                        "yaw": -80.29600524902344
                    }
                },
                "velocity": {
                    "x": 1.324201226234436,
                    "y": -7.882843494415283,
                    "z": 0.005671596620231867
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.9210205078125,
                        "y": 3495.9443359375,
                        "z": 370.72796630859375
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3801484107971191,
                "transform": {
                    "location": {
                        "x": 964.4219360351562,
                        "y": 3582.88623046875,
                        "z": 370.57269287109375
                    },
                    "rotation": {
                        "roll": 0.0012361386325210333,
                        "pitch": 0.33647558093070984,
                        "yaw": -170.64822387695312
                    }
                },
                "velocity": {
                    "x": -1.3625904321670532,
                    "y": -0.21894164383411407,
                    "z": 0.014879712834954262
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.4029541015625,
                        "y": 3469.9091796875,
                        "z": 370.6236572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8487643003463745,
                "transform": {
                    "location": {
                        "x": 933.6229248046875,
                        "y": 3609.443115234375,
                        "z": 370.88409423828125
                    },
                    "rotation": {
                        "roll": -0.00021362188272178173,
                        "pitch": 0.04074890539050102,
                        "yaw": -80.68116760253906
                    }
                },
                "velocity": {
                    "x": 0.1364731788635254,
                    "y": -0.8377187848091125,
                    "z": 0.001780176069587469
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.80906343460083,
                "transform": {
                    "location": {
                        "x": 931.1527709960938,
                        "y": 3604.392822265625,
                        "z": 370.8975830078125
                    },
                    "rotation": {
                        "roll": -0.006164552643895149,
                        "pitch": 0.14814679324626923,
                        "yaw": -81.35594177246094
                    }
                },
                "velocity": {
                    "x": 0.5995793342590332,
                    "y": -3.7615773677825928,
                    "z": 0.0018534660339355469
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.291166285634972e-05,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.001321850810199976,
                        "pitch": 0.002206150908023119,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -7.342492125417266e-08,
                    "y": 1.4392658442829998e-07,
                    "z": 3.291126631665975e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.90252685546875
                    },
                    "rotation": {
                        "roll": 0.0010564839467406273,
                        "pitch": -0.0048835850320756435,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007106251432560384,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.0005426600109785795,
                        "pitch": 0.5700270533561707,
                        "yaw": -170.7067413330078
                    }
                },
                "velocity": {
                    "x": 2.4687200493644923e-05,
                    "y": -1.4876593013468664e-05,
                    "z": 0.0007100403308868408
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061059951782227,
                "transform": {
                    "location": {
                        "x": 939.2719116210938,
                        "y": 3511.7763671875,
                        "z": 370.7805480957031
                    },
                    "rotation": {
                        "roll": 0.0006419466808438301,
                        "pitch": 0.15307819843292236,
                        "yaw": 99.12474060058594
                    }
                },
                "velocity": {
                    "x": -1.2792506217956543,
                    "y": 7.958878040313721,
                    "z": 0.02159038558602333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.0299072265625,
                        "y": 3484.654541015625,
                        "z": 370.6847229003906
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003584651567507535,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 1.139846858677629e-06,
                    "y": -2.2941967472434044e-06,
                    "z": 0.0003584560181479901
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.008451058529317379,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8780822753906
                    },
                    "rotation": {
                        "roll": -0.00015258706116583198,
                        "pitch": -0.04431426525115967,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -3.567020030459389e-06,
                    "y": -1.0423967069073115e-05,
                    "z": -0.008451051078736782
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010904117953032255,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": -0.03811245411634445,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -8.170007276930846e-06,
                    "y": -1.6155652815541544e-07,
                    "z": 0.001090381178073585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011599139543250203,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": -0.04616524651646614,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 6.80958473822102e-05,
                    "y": 1.9436249203863554e-05,
                    "z": 0.001157750142738223
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.641845703125,
                        "y": 3499.49267578125,
                        "z": 370.7381591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.973632335662842,
                "transform": {
                    "location": {
                        "x": 939.3364868164062,
                        "y": 3531.838623046875,
                        "z": 370.8619384765625
                    },
                    "rotation": {
                        "roll": -9.155433508567512e-05,
                        "pitch": 0.18063117563724518,
                        "yaw": 99.13697814941406
                    }
                },
                "velocity": {
                    "x": -1.2676478624343872,
                    "y": 7.872201919555664,
                    "z": 0.017872314900159836
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.180692195892334,
                "transform": {
                    "location": {
                        "x": 936.6041259765625,
                        "y": 3548.79638671875,
                        "z": 370.86053466796875
                    },
                    "rotation": {
                        "roll": 0.0003217727644369006,
                        "pitch": -0.06403301656246185,
                        "yaw": 99.14270782470703
                    }
                },
                "velocity": {
                    "x": -0.6634343862533569,
                    "y": 4.127711772918701,
                    "z": 0.006175565533339977
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.065540313720703,
                "transform": {
                    "location": {
                        "x": 926.983154296875,
                        "y": 3588.14453125,
                        "z": 370.89288330078125
                    },
                    "rotation": {
                        "roll": 0.0007673099753446877,
                        "pitch": 0.024916529655456543,
                        "yaw": 99.18450927734375
                    }
                },
                "velocity": {
                    "x": -1.286632776260376,
                    "y": 7.962255001068115,
                    "z": 0.005095319822430611
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03030776977539,
                "transform": {
                    "location": {
                        "x": 879.9871826171875,
                        "y": 3569.5126953125,
                        "z": 371.29974365234375
                    },
                    "rotation": {
                        "roll": -0.00021362050028983504,
                        "pitch": 0.33620238304138184,
                        "yaw": -170.88638305664062
                    }
                },
                "velocity": {
                    "x": -7.9283881187438965,
                    "y": -1.2744388580322266,
                    "z": 0.048106640577316284
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.915791034698486,
                "transform": {
                    "location": {
                        "x": 942.1521606445312,
                        "y": 3514.41796875,
                        "z": 370.78118896484375
                    },
                    "rotation": {
                        "roll": 0.00028416115674190223,
                        "pitch": 0.17270132899284363,
                        "yaw": 98.96284484863281
                    }
                },
                "velocity": {
                    "x": -1.2538102865219116,
                    "y": 7.815832138061523,
                    "z": 0.02181161753833294
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8903841972351074,
                "transform": {
                    "location": {
                        "x": 934.1546630859375,
                        "y": 3564.018310546875,
                        "z": 370.8753967285156
                    },
                    "rotation": {
                        "roll": 0.008446081541478634,
                        "pitch": -0.6553292870521545,
                        "yaw": 98.89972686767578
                    }
                },
                "velocity": {
                    "x": -0.45802709460258484,
                    "y": 2.8538613319396973,
                    "z": 0.0028282927814871073
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.104036331176758,
                "transform": {
                    "location": {
                        "x": 940.1658325195312,
                        "y": 3581.209716796875,
                        "z": 370.8267822265625
                    },
                    "rotation": {
                        "roll": 0.309391587972641,
                        "pitch": -0.5417774319648743,
                        "yaw": 26.863079071044922
                    }
                },
                "velocity": {
                    "x": 7.363603115081787,
                    "y": 3.3829753398895264,
                    "z": -0.09074130654335022
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4365091919898987,
        "expert_target_speed": 3.6501037267381866,
        "target_point": [
            17.734206146706953,
            0.440836024914252
        ],
        "target_point_next": [
            35.73411701388433,
            0.44815556872487505
        ]
    },
    "765": {
        "acceleration": [
            0.3874295949935913,
            -2.2948503494262695,
            -0.010391026735305786
        ],
        "angular_velocity": [
            0.564312219619751,
            0.006458577234297991,
            1.4141865968704224
        ],
        "forward_vector": [
            -0.16049841046333313,
            0.9870333075523376,
            -0.0023760769981890917
        ],
        "right_vector": [
            -0.9870331287384033,
            -0.16050340235233307,
            -0.0020811273716390133
        ],
        "location": [
            930.2872924804688,
            3570.9462890625,
            370.8832092285156
        ],
        "rotation": [
            0.11924022436141968,
            -0.13613931834697723,
            99.23585510253906
        ],
        "velocity": [
            -0.32505297660827637,
            1.9322996139526367,
            0.013964052312076092
        ],
        "speed": 1.9594492174290739,
        "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": 19.527225494384766,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                926.6619873046875,
                3590.134033203125,
                370.8936767578125
            ],
            "velocity": [
                -1.281680703163147,
                7.955068111419678,
                0.0020751953125
            ],
            "speed_kmh": 29.007561192153833,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4297709465026855,
                "transform": {
                    "location": {
                        "x": 985.2321166992188,
                        "y": 3586.36279296875,
                        "z": 370.32513427734375
                    },
                    "rotation": {
                        "roll": 0.003964300267398357,
                        "pitch": 0.8299021124839783,
                        "yaw": -170.40704345703125
                    }
                },
                "velocity": {
                    "x": -3.3792245388031006,
                    "y": -0.5849399566650391,
                    "z": 0.04489195719361305
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.374146461486816,
                "transform": {
                    "location": {
                        "x": 928.2501220703125,
                        "y": 3622.1689453125,
                        "z": 370.8871154785156
                    },
                    "rotation": {
                        "roll": -0.006195059046149254,
                        "pitch": -0.10931716859340668,
                        "yaw": -80.42203521728516
                    }
                },
                "velocity": {
                    "x": 1.2093474864959717,
                    "y": -7.274303913116455,
                    "z": 0.0042848107405006886
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.755218982696533,
                "transform": {
                    "location": {
                        "x": 931.6380004882812,
                        "y": 3621.617431640625,
                        "z": 370.87225341796875
                    },
                    "rotation": {
                        "roll": 0.0037048342637717724,
                        "pitch": 0.008448943495750427,
                        "yaw": -80.50148010253906
                    }
                },
                "velocity": {
                    "x": 1.1055253744125366,
                    "y": -6.664139747619629,
                    "z": 0.00583990104496479
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.600830078125,
                        "y": 3497.9345703125,
                        "z": 370.7347717285156
                    },
                    "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": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.260118007659912,
                "transform": {
                    "location": {
                        "x": 964.2833251953125,
                        "y": 3582.864013671875,
                        "z": 370.57269287109375
                    },
                    "rotation": {
                        "roll": 0.0010642459383234382,
                        "pitch": 0.5202623009681702,
                        "yaw": -170.63136291503906
                    }
                },
                "velocity": {
                    "x": -1.2440648078918457,
                    "y": -0.19961969554424286,
                    "z": 0.01876816712319851
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.0877685546875,
                        "y": 3471.86669921875,
                        "z": 370.6318664550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.366533637046814,
                "transform": {
                    "location": {
                        "x": 933.66796875,
                        "y": 3609.16064453125,
                        "z": 370.8841247558594
                    },
                    "rotation": {
                        "roll": 0.0006050156080164015,
                        "pitch": 0.05697060376405716,
                        "yaw": -80.5707015991211
                    }
                },
                "velocity": {
                    "x": 0.2199414223432541,
                    "y": -1.3487167358398438,
                    "z": 0.0018085289048030972
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1677138805389404,
                "transform": {
                    "location": {
                        "x": 931.2952880859375,
                        "y": 3603.4921875,
                        "z": 370.8996887207031
                    },
                    "rotation": {
                        "roll": -0.0026855506002902985,
                        "pitch": -0.04168464243412018,
                        "yaw": -81.17216491699219
                    }
                },
                "velocity": {
                    "x": 0.5021306872367859,
                    "y": -3.1276626586914062,
                    "z": 0.0017510127509012818
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008222149917855859,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0015559304738417268,
                        "pitch": 0.00226762262172997,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -2.2833577531855553e-05,
                    "y": -6.812109859311022e-06,
                    "z": 0.0008218696457333863
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00032826067763380706,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 0.000543990929145366,
                        "pitch": -0.008763132616877556,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 8.13585393188987e-06,
                    "y": 9.321540346718393e-06,
                    "z": 0.00032802741043269634
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008879423257894814,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.0005426600109785795,
                        "pitch": 0.5700270533561707,
                        "yaw": -170.7067413330078
                    }
                },
                "velocity": {
                    "x": 2.518951805541292e-05,
                    "y": 4.653222731576534e-06,
                    "z": 0.0008875727653503418
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07339096069336,
                "transform": {
                    "location": {
                        "x": 938.951904296875,
                        "y": 3513.767822265625,
                        "z": 370.7859191894531
                    },
                    "rotation": {
                        "roll": -0.00018310178711544722,
                        "pitch": 0.15887019038200378,
                        "yaw": 99.14824676513672
                    }
                },
                "velocity": {
                    "x": -1.2818657159805298,
                    "y": 7.970947742462158,
                    "z": 0.02130192704498768
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7107543945312,
                        "y": 3486.636474609375,
                        "z": 370.6922912597656
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001609325991012156,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -7.129066943889484e-06,
                    "y": 4.216283571167878e-07,
                    "z": 0.00016077407053671777
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0021014355588704348,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.877685546875
                    },
                    "rotation": {
                        "roll": -0.00039673136780038476,
                        "pitch": -0.04455332085490227,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -2.1204812583164312e-05,
                    "y": 2.6085413651344425e-07,
                    "z": 0.002101328456774354
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006158595788292587,
                "transform": {
                    "location": {
                        "x": 921.3428955078125,
                        "y": 3623.810791015625,
                        "z": 370.8751220703125
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": -0.03802366182208061,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.0977339115925133e-05,
                    "y": 2.1552991711359937e-06,
                    "z": 0.0006157579482533038
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.3221435546875,
                        "y": 3501.47900390625,
                        "z": 370.7444763183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.751012325286865,
                "transform": {
                    "location": {
                        "x": 939.0442504882812,
                        "y": 3533.653564453125,
                        "z": 370.8671875
                    },
                    "rotation": {
                        "roll": -0.0006103498162701726,
                        "pitch": 0.03575603663921356,
                        "yaw": 99.14585876464844
                    }
                },
                "velocity": {
                    "x": -1.0729780197143555,
                    "y": 6.665181636810303,
                    "z": 0.015337018296122551
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0591585636138916,
                "transform": {
                    "location": {
                        "x": 936.4638061523438,
                        "y": 3549.66845703125,
                        "z": 370.8617858886719
                    },
                    "rotation": {
                        "roll": -0.0003662164672277868,
                        "pitch": -0.1316450536251068,
                        "yaw": 99.14110565185547
                    }
                },
                "velocity": {
                    "x": -0.4860987067222595,
                    "y": 3.020287036895752,
                    "z": 0.005062608513981104
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.057656288146973,
                "transform": {
                    "location": {
                        "x": 926.6619873046875,
                        "y": 3590.134033203125,
                        "z": 370.8936767578125
                    },
                    "rotation": {
                        "roll": 0.0003853070375043899,
                        "pitch": 0.007567849010229111,
                        "yaw": 99.159423828125
                    }
                },
                "velocity": {
                    "x": -1.281680703163147,
                    "y": 7.955068111419678,
                    "z": 0.0020751953125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029778480529785,
                "transform": {
                    "location": {
                        "x": 878.005126953125,
                        "y": 3569.1943359375,
                        "z": 371.3115539550781
                    },
                    "rotation": {
                        "roll": 0.00033002893906086683,
                        "pitch": 0.32808810472488403,
                        "yaw": -170.84573364257812
                    }
                },
                "velocity": {
                    "x": -7.927762985229492,
                    "y": -1.2750121355056763,
                    "z": 0.04763765260577202
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.826919078826904,
                "transform": {
                    "location": {
                        "x": 941.8331909179688,
                        "y": 3516.403076171875,
                        "z": 370.78662109375
                    },
                    "rotation": {
                        "roll": -0.0020141645800322294,
                        "pitch": 0.14042185246944427,
                        "yaw": 98.97996520996094
                    }
                },
                "velocity": {
                    "x": -1.2455708980560303,
                    "y": 7.72714376449585,
                    "z": 0.021512508392333984
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6122426986694336,
                "transform": {
                    "location": {
                        "x": 934.0299682617188,
                        "y": 3564.79833984375,
                        "z": 370.8739318847656
                    },
                    "rotation": {
                        "roll": 0.002989009954035282,
                        "pitch": -0.06332951039075851,
                        "yaw": 98.9810791015625
                    }
                },
                "velocity": {
                    "x": -0.5716842412948608,
                    "y": 3.566716432571411,
                    "z": 0.002810201607644558
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057830810546875,
                "transform": {
                    "location": {
                        "x": 942.0492553710938,
                        "y": 3581.94140625,
                        "z": 370.8067932128906
                    },
                    "rotation": {
                        "roll": 0.3081968426704407,
                        "pitch": -0.5351247787475586,
                        "yaw": 20.32805633544922
                    }
                },
                "velocity": {
                    "x": 7.611275672912598,
                    "y": 2.644042491912842,
                    "z": -0.07844662666320801
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4181963801383972,
        "expert_target_speed": 3.061856454019125,
        "target_point": [
            17.17130234025808,
            0.40287326048270167
        ],
        "target_point_next": [
            35.171190855683264,
            0.3735776240100197
        ]
    },
    "770": {
        "acceleration": [
            -0.11875271797180176,
            0.6226968765258789,
            0.004154220223426819
        ],
        "angular_velocity": [
            1.212968111038208,
            0.2472495287656784,
            -0.5847470760345459
        ],
        "forward_vector": [
            -0.1618511974811554,
            0.9868148565292358,
            0.0007835625438019633
        ],
        "right_vector": [
            -0.9868132472038269,
            -0.1618492156267166,
            -0.0021317782811820507
        ],
        "location": [
            930.2152709960938,
            3571.375,
            370.8855895996094
        ],
        "rotation": [
            0.12214203923940659,
            0.044894829392433167,
            99.31436920166016
        ],
        "velocity": [
            -0.27809685468673706,
            1.6411168575286865,
            0.013428840786218643
        ],
        "speed": 1.664512661607441,
        "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": 21.105825424194336,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                926.3416748046875,
                3592.122314453125,
                370.8939514160156
            ],
            "velocity": [
                -1.281209111213684,
                7.953516006469727,
                0.0016664409777149558
            ],
            "speed_kmh": 29.001774375336595,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.437450885772705,
                "transform": {
                    "location": {
                        "x": 984.2557373046875,
                        "y": 3586.194091796875,
                        "z": 370.3380432128906
                    },
                    "rotation": {
                        "roll": 0.004387571942061186,
                        "pitch": 0.8205105662345886,
                        "yaw": -170.39385986328125
                    }
                },
                "velocity": {
                    "x": -4.371877193450928,
                    "y": -0.7579092383384705,
                    "z": 0.05688316375017166
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.224923133850098,
                "transform": {
                    "location": {
                        "x": 928.576904296875,
                        "y": 3620.205810546875,
                        "z": 370.8880310058594
                    },
                    "rotation": {
                        "roll": -0.0014953587669879198,
                        "pitch": -0.06109603866934776,
                        "yaw": -80.5290298461914
                    }
                },
                "velocity": {
                    "x": 1.3462001085281372,
                    "y": -8.114004135131836,
                    "z": 0.005837812088429928
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1896793842315674,
                "transform": {
                    "location": {
                        "x": 931.8433227539062,
                        "y": 3620.381591796875,
                        "z": 370.874755859375
                    },
                    "rotation": {
                        "roll": -0.00030518611310981214,
                        "pitch": -0.2116948664188385,
                        "yaw": -80.57231903076172
                    }
                },
                "velocity": {
                    "x": 0.35823923349380493,
                    "y": -2.160175323486328,
                    "z": 0.0015233611920848489
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.2799682617188,
                        "y": 3499.9267578125,
                        "z": 370.7411193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4453805685043335,
                "transform": {
                    "location": {
                        "x": 963.9574584960938,
                        "y": 3582.810546875,
                        "z": 370.57574462890625
                    },
                    "rotation": {
                        "roll": 0.0010336280101910233,
                        "pitch": 0.6091504096984863,
                        "yaw": -170.67674255371094
                    }
                },
                "velocity": {
                    "x": -1.425823450088501,
                    "y": -0.23651771247386932,
                    "z": 0.014547948725521564
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7759399414062,
                        "y": 3473.805908203125,
                        "z": 370.64007568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9207655191421509,
                "transform": {
                    "location": {
                        "x": 933.734375,
                        "y": 3608.75390625,
                        "z": 370.8843994140625
                    },
                    "rotation": {
                        "roll": 0.0008143135928548872,
                        "pitch": 0.05695011466741562,
                        "yaw": -80.60716247558594
                    }
                },
                "velocity": {
                    "x": 0.30741745233535767,
                    "y": -1.8960040807724,
                    "z": 0.0018035601824522018
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3142760992050171,
                "transform": {
                    "location": {
                        "x": 931.3367919921875,
                        "y": 3603.2314453125,
                        "z": 370.9051208496094
                    },
                    "rotation": {
                        "roll": 0.009633919224143028,
                        "pitch": -0.6958869695663452,
                        "yaw": -81.13331604003906
                    }
                },
                "velocity": {
                    "x": 0.04870986193418503,
                    "y": -0.3104771077632904,
                    "z": 0.0008828353602439165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002016312937485054,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0009770817123353481,
                        "pitch": 0.0022744529414922,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -1.1716898370650597e-05,
                    "y": -5.4688557611370925e-06,
                    "z": -0.00020121625857427716
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000291318167001009,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": -0.0002441408869344741,
                        "pitch": -0.009248076006770134,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 1.7707156075630337e-05,
                    "y": 9.68523067967908e-07,
                    "z": 0.00029077791259624064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.0005426600109785795,
                        "pitch": 0.5700270533561707,
                        "yaw": -170.7067413330078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07568073272705,
                "transform": {
                    "location": {
                        "x": 938.6309814453125,
                        "y": 3515.7607421875,
                        "z": 370.7914733886719
                    },
                    "rotation": {
                        "roll": -0.0007019114564172924,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.12652587890625
                    }
                },
                "velocity": {
                    "x": -1.2829166650772095,
                    "y": 7.9730963706970215,
                    "z": 0.021777238696813583
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.4073486328125,
                        "y": 3488.522705078125,
                        "z": 370.69964599609375
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00041982129914686084,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 1.4086347164266044e-06,
                    "y": -4.381481630844064e-06,
                    "z": 0.00041979606612585485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002074574586004019,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8779296875
                    },
                    "rotation": {
                        "roll": 5.043435885454528e-05,
                        "pitch": -0.04440305754542351,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 2.0696338651760016e-06,
                    "y": -1.314803967034095e-06,
                    "z": 0.002074573189020157
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.17177598178386688,
                "transform": {
                    "location": {
                        "x": 921.3424072265625,
                        "y": 3623.8134765625,
                        "z": 370.87506103515625
                    },
                    "rotation": {
                        "roll": -0.0006408689077943563,
                        "pitch": -0.03658932074904442,
                        "yaw": 99.14376831054688
                    }
                },
                "velocity": {
                    "x": -0.02911534160375595,
                    "y": 0.1692904829978943,
                    "z": -0.0001352310209767893
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.831387996673584,
                "transform": {
                    "location": {
                        "x": 944.0360107421875,
                        "y": 3503.2392578125,
                        "z": 370.7609558105469
                    },
                    "rotation": {
                        "roll": -0.017761224880814552,
                        "pitch": -0.01037505641579628,
                        "yaw": 99.25772094726562
                    }
                },
                "velocity": {
                    "x": -0.9903380274772644,
                    "y": 5.745034217834473,
                    "z": 0.13746386766433716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1786911487579346,
                "transform": {
                    "location": {
                        "x": 938.8619995117188,
                        "y": 3534.787841796875,
                        "z": 370.8718566894531
                    },
                    "rotation": {
                        "roll": -0.001037600333802402,
                        "pitch": -0.2755093276500702,
                        "yaw": 99.19097137451172
                    }
                },
                "velocity": {
                    "x": -0.34738215804100037,
                    "y": 2.1508140563964844,
                    "z": 0.00447892164811492
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.506357431411743,
                "transform": {
                    "location": {
                        "x": 936.3397216796875,
                        "y": 3550.439208984375,
                        "z": 370.8629455566406
                    },
                    "rotation": {
                        "roll": 8.993981464300305e-05,
                        "pitch": 0.08572570234537125,
                        "yaw": 99.14110565185547
                    }
                },
                "velocity": {
                    "x": -0.557163655757904,
                    "y": 3.4618031978607178,
                    "z": 0.005499133840203285
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056048393249512,
                "transform": {
                    "location": {
                        "x": 926.3416748046875,
                        "y": 3592.122314453125,
                        "z": 370.8939514160156
                    },
                    "rotation": {
                        "roll": 0.0001051071158144623,
                        "pitch": 0.00880411360412836,
                        "yaw": 99.15328216552734
                    }
                },
                "velocity": {
                    "x": -1.281209111213684,
                    "y": 7.953516006469727,
                    "z": 0.0016664409777149558
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029455184936523,
                "transform": {
                    "location": {
                        "x": 876.0232543945312,
                        "y": 3568.875244140625,
                        "z": 371.3231506347656
                    },
                    "rotation": {
                        "roll": -0.0002441399119561538,
                        "pitch": 0.32849109172821045,
                        "yaw": -170.88278198242188
                    }
                },
                "velocity": {
                    "x": -7.927731037139893,
                    "y": -1.2732789516448975,
                    "z": 0.044640444219112396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8955230712890625,
                "transform": {
                    "location": {
                        "x": 941.525146484375,
                        "y": 3518.31689453125,
                        "z": 370.7919921875
                    },
                    "rotation": {
                        "roll": 0.00038916905759833753,
                        "pitch": 0.1697096973657608,
                        "yaw": 98.9655990600586
                    }
                },
                "velocity": {
                    "x": -1.2541006803512573,
                    "y": 7.795259952545166,
                    "z": 0.020910482853651047
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.882950782775879,
                "transform": {
                    "location": {
                        "x": 933.8596801757812,
                        "y": 3565.86181640625,
                        "z": 370.87322998046875
                    },
                    "rotation": {
                        "roll": -0.0014953663339838386,
                        "pitch": 0.3931661546230316,
                        "yaw": 99.05050659179688
                    }
                },
                "velocity": {
                    "x": -0.7738226652145386,
                    "y": 4.821244716644287,
                    "z": 0.003088302444666624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021018028259277,
                "transform": {
                    "location": {
                        "x": 943.9673461914062,
                        "y": 3582.532470703125,
                        "z": 370.785888671875
                    },
                    "rotation": {
                        "roll": 0.2826368510723114,
                        "pitch": -0.6882303357124329,
                        "yaw": 16.308748245239258
                    }
                },
                "velocity": {
                    "x": 7.7525224685668945,
                    "y": 2.056533098220825,
                    "z": -0.07614673674106598
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42449259757995605,
        "expert_target_speed": 2.7870934219001424,
        "target_point": [
            16.73712310243983,
            0.3776563997071203
        ],
        "target_point_next": [
            34.73695456766075,
            0.32369321137910223
        ]
    },
    "775": {
        "acceleration": [
            -1.1364543437957764,
            6.550946235656738,
            0.04390411078929901
        ],
        "angular_velocity": [
            2.5973877906799316,
            0.45898404717445374,
            1.0180704593658447
        ],
        "forward_vector": [
            -0.16369467973709106,
            0.9864614605903625,
            0.009892540983855724
        ],
        "right_vector": [
            -0.9865109920501709,
            -0.16368377208709717,
            -0.0019088704138994217
        ],
        "location": [
            930.1253051757812,
            3571.90625,
            370.88726806640625
        ],
        "rotation": [
            0.10937563329935074,
            0.5668100714683533,
            99.42188262939453
        ],
        "velocity": [
            -0.4718589782714844,
            2.766437530517578,
            0.016808995977044106
        ],
        "speed": 2.806390476329266,
        "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": 22.580900192260742,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                926.0213623046875,
                3594.111083984375,
                370.8938293457031
            ],
            "velocity": [
                -1.281139612197876,
                7.956218719482422,
                -0.0018536949064582586
            ],
            "speed_kmh": 29.011340719943178,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.07180118560791,
                "transform": {
                    "location": {
                        "x": 983.029296875,
                        "y": 3585.9814453125,
                        "z": 370.3537902832031
                    },
                    "rotation": {
                        "roll": 0.004006214905530214,
                        "pitch": 0.8391160368919373,
                        "yaw": -170.40951538085938
                    }
                },
                "velocity": {
                    "x": -5.98266077041626,
                    "y": -1.0336799621582031,
                    "z": 0.07778505235910416
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.284853458404541,
                "transform": {
                    "location": {
                        "x": 928.8950805664062,
                        "y": 3618.28955078125,
                        "z": 370.88812255859375
                    },
                    "rotation": {
                        "roll": 0.0003710952296387404,
                        "pitch": 0.09556800127029419,
                        "yaw": -80.57288360595703
                    }
                },
                "velocity": {
                    "x": 1.1908364295959473,
                    "y": -7.186861038208008,
                    "z": 0.005080108530819416
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8198801875114441,
                "transform": {
                    "location": {
                        "x": 931.8643798828125,
                        "y": 3620.255859375,
                        "z": 370.873779296875
                    },
                    "rotation": {
                        "roll": -0.000396731891669333,
                        "pitch": -0.10284215211868286,
                        "yaw": -80.59773254394531
                    }
                },
                "velocity": {
                    "x": 0.1345122754573822,
                    "y": -0.808770477771759,
                    "z": 0.0005774593446403742
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.9595336914062,
                        "y": 3501.9189453125,
                        "z": 370.7474060058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9158177375793457,
                "transform": {
                    "location": {
                        "x": 963.5139770507812,
                        "y": 3582.736572265625,
                        "z": 370.58050537109375
                    },
                    "rotation": {
                        "roll": -0.0010375967249274254,
                        "pitch": 0.5896980166435242,
                        "yaw": -170.87185668945312
                    }
                },
                "velocity": {
                    "x": -0.9026351571083069,
                    "y": -0.15454506874084473,
                    "z": 0.009365424513816833
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.5078125,
                        "y": 3475.470947265625,
                        "z": 370.64703369140625
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4753668308258057,
                "transform": {
                    "location": {
                        "x": 933.8231811523438,
                        "y": 3608.208740234375,
                        "z": 370.8847961425781
                    },
                    "rotation": {
                        "roll": -3.0519084248226136e-05,
                        "pitch": 0.057503361254930496,
                        "yaw": -80.65740203857422
                    }
                },
                "velocity": {
                    "x": 0.3960268199443817,
                    "y": -2.443481206893921,
                    "z": 0.0016873073764145374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7865360975265503,
                "transform": {
                    "location": {
                        "x": 931.3635864257812,
                        "y": 3603.062744140625,
                        "z": 370.89935302734375
                    },
                    "rotation": {
                        "roll": 0.0010972361778840423,
                        "pitch": 0.040113698691129684,
                        "yaw": -81.10299682617188
                    }
                },
                "velocity": {
                    "x": 0.1247447207570076,
                    "y": -0.7765787839889526,
                    "z": 0.001770400907844305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006096881697885692,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0010479734046384692,
                        "pitch": 0.002288113348186016,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": 4.255437488609459e-06,
                    "y": 1.2052768170178751e-06,
                    "z": 0.0006096721044741571
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.006674422882497e-05,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": -0.009220754727721214,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 1.8782191091304412e-06,
                    "y": 3.7371179928413767e-07,
                    "z": 7.004057260928676e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006604256923310459,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.0005426600109785795,
                        "pitch": 0.5700270533561707,
                        "yaw": -170.7067413330078
                    }
                },
                "velocity": {
                    "x": 2.1957604985800572e-05,
                    "y": 1.7929402019944973e-05,
                    "z": 0.0006598170148208737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.068929672241211,
                "transform": {
                    "location": {
                        "x": 938.3106689453125,
                        "y": 3517.75341796875,
                        "z": 370.7969970703125
                    },
                    "rotation": {
                        "roll": 6.283264519879594e-05,
                        "pitch": 0.15785932540893555,
                        "yaw": 99.15238952636719
                    }
                },
                "velocity": {
                    "x": -1.2814663648605347,
                    "y": 7.966492652893066,
                    "z": 0.021338090300559998
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.1954345703125,
                        "y": 3489.838134765625,
                        "z": 370.70452880859375
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011146642646053806,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -1.1585608262976166e-05,
                    "y": 1.4859251962207054e-07,
                    "z": 0.00011086259473813698
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.100423004478216e-05,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8779296875
                    },
                    "rotation": {
                        "roll": 5.043435885454528e-05,
                        "pitch": -0.04440305754542351,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -1.1472649021015968e-05,
                    "y": -6.061904059606604e-06,
                    "z": -4.932608862873167e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.097381353378296,
                "transform": {
                    "location": {
                        "x": 921.3125,
                        "y": 3623.9912109375,
                        "z": 370.8748779296875
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.019677773118019104,
                        "yaw": 99.21766662597656
                    }
                },
                "velocity": {
                    "x": -0.18619057536125183,
                    "y": 1.0814688205718994,
                    "z": -0.0020405100658535957
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.574657440185547,
                "transform": {
                    "location": {
                        "x": 943.796142578125,
                        "y": 3504.642822265625,
                        "z": 370.7835998535156
                    },
                    "rotation": {
                        "roll": 0.0003695344494190067,
                        "pitch": 0.09847766160964966,
                        "yaw": 99.60071563720703
                    }
                },
                "velocity": {
                    "x": -0.93695068359375,
                    "y": 5.49510383605957,
                    "z": 0.05254543200135231
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0155138969421387,
                "transform": {
                    "location": {
                        "x": 938.7638549804688,
                        "y": 3535.395263671875,
                        "z": 370.87054443359375
                    },
                    "rotation": {
                        "roll": -0.0005493167554959655,
                        "pitch": 0.04047570005059242,
                        "yaw": 99.17680358886719
                    }
                },
                "velocity": {
                    "x": -0.4794206917285919,
                    "y": 2.9771533012390137,
                    "z": 0.006244573276489973
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.913906574249268,
                "transform": {
                    "location": {
                        "x": 936.1710205078125,
                        "y": 3551.488037109375,
                        "z": 370.8645324707031
                    },
                    "rotation": {
                        "roll": -9.152841084869578e-05,
                        "pitch": 0.2944699227809906,
                        "yaw": 99.14099884033203
                    }
                },
                "velocity": {
                    "x": -0.780608057975769,
                    "y": 4.851504325866699,
                    "z": 0.005798310972750187
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05870532989502,
                "transform": {
                    "location": {
                        "x": 926.0213623046875,
                        "y": 3594.111083984375,
                        "z": 370.8938293457031
                    },
                    "rotation": {
                        "roll": 0.00022265773441176862,
                        "pitch": -0.010655094869434834,
                        "yaw": 99.14471435546875
                    }
                },
                "velocity": {
                    "x": -1.281139612197876,
                    "y": 7.956218719482422,
                    "z": -0.0018536949064582586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.711318492889404,
                "transform": {
                    "location": {
                        "x": 874.0580444335938,
                        "y": 3568.559326171875,
                        "z": 371.3342590332031
                    },
                    "rotation": {
                        "roll": 0.001682374975644052,
                        "pitch": 0.3465091288089752,
                        "yaw": -170.84095764160156
                    }
                },
                "velocity": {
                    "x": -7.61309814453125,
                    "y": -1.2260661125183105,
                    "z": 0.043978746980428696
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.183433532714844,
                "transform": {
                    "location": {
                        "x": 941.2213745117188,
                        "y": 3520.202392578125,
                        "z": 370.7970275878906
                    },
                    "rotation": {
                        "roll": -0.0010986339766532183,
                        "pitch": 0.07020751386880875,
                        "yaw": 98.93672180175781
                    }
                },
                "velocity": {
                    "x": -1.1445168256759644,
                    "y": 7.091640949249268,
                    "z": 0.02071538008749485
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.345035076141357,
                "transform": {
                    "location": {
                        "x": 933.6732788085938,
                        "y": 3567.022705078125,
                        "z": 370.8752746582031
                    },
                    "rotation": {
                        "roll": -0.0008850011508911848,
                        "pitch": 0.10473411530256271,
                        "yaw": 99.09394073486328
                    }
                },
                "velocity": {
                    "x": -0.6898362040519714,
                    "y": 4.289923191070557,
                    "z": 0.003713150043040514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07800579071045,
                "transform": {
                    "location": {
                        "x": 945.9293823242188,
                        "y": 3582.988037109375,
                        "z": 370.7637939453125
                    },
                    "rotation": {
                        "roll": 0.2353004515171051,
                        "pitch": -0.5804089307785034,
                        "yaw": 12.586301803588867
                    }
                },
                "velocity": {
                    "x": 7.900795936584473,
                    "y": 1.6801823377609253,
                    "z": -0.09266509115695953
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39889681339263916,
        "expert_target_speed": 3.9216338477242694,
        "target_point": [
            16.198991155648834,
            0.34447362975178386
        ],
        "target_point_next": [
            34.19868972266707,
            0.256745079476576
        ]
    },
    "780": {
        "acceleration": [
            -1.234900951385498,
            6.848077774047852,
            0.029297061264514923
        ],
        "angular_velocity": [
            1.8028488159179688,
            0.4040195643901825,
            0.8066363334655762
        ],
        "forward_vector": [
            -0.16650143265724182,
            0.9858309626579285,
            0.020363591611385345
        ],
        "right_vector": [
            -0.9860392212867737,
            -0.1665070652961731,
            -0.00143100053537637
        ],
        "location": [
            929.9644165039062,
            3572.84423828125,
            370.8908996582031
        ],
        "rotation": [
            0.08200731873512268,
            1.1668285131454468,
            99.58647155761719
        ],
        "velocity": [
            -0.7909045219421387,
            4.571558952331543,
            0.02777319774031639
        ],
        "speed": 4.63946992850166,
        "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": 23.643638610839844,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                925.701171875,
                3596.100341796875,
                370.8932800292969
            ],
            "velocity": [
                -1.2810271978378296,
                7.9567131996154785,
                -0.0022450636606663465
            ],
            "speed_kmh": 29.013034239639392,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.911260604858398,
                "transform": {
                    "location": {
                        "x": 981.2720947265625,
                        "y": 3585.678955078125,
                        "z": 370.3764343261719
                    },
                    "rotation": {
                        "roll": 0.006278092972934246,
                        "pitch": 0.8612185120582581,
                        "yaw": -170.25120544433594
                    }
                },
                "velocity": {
                    "x": -7.794687747955322,
                    "y": -1.3492894172668457,
                    "z": 0.10149744153022766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7525250911712646,
                "transform": {
                    "location": {
                        "x": 929.1317138671875,
                        "y": 3616.848388671875,
                        "z": 370.8870544433594
                    },
                    "rotation": {
                        "roll": -0.002319327322766185,
                        "pitch": 0.3281973898410797,
                        "yaw": -80.70175170898438
                    }
                },
                "velocity": {
                    "x": 0.5983812808990479,
                    "y": -3.7045087814331055,
                    "z": 0.0005023669800721109
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.595300316810608,
                "transform": {
                    "location": {
                        "x": 931.913330078125,
                        "y": 3619.9599609375,
                        "z": 370.8731689453125
                    },
                    "rotation": {
                        "roll": 0.002406980376690626,
                        "pitch": 0.04986037686467171,
                        "yaw": -80.58879089355469
                    }
                },
                "velocity": {
                    "x": 0.2513858675956726,
                    "y": -1.5753682851791382,
                    "z": 0.0017737674061208963
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.70010232925415,
                "transform": {
                    "location": {
                        "x": 940.645751953125,
                        "y": 3503.869384765625,
                        "z": 370.7548828125
                    },
                    "rotation": {
                        "roll": -0.003204347100108862,
                        "pitch": 0.055522605776786804,
                        "yaw": 99.15095520019531
                    }
                },
                "velocity": {
                    "x": -1.0704880952835083,
                    "y": 6.613966464996338,
                    "z": 0.029488954693078995
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3700987100601196,
                "transform": {
                    "location": {
                        "x": 963.2977294921875,
                        "y": 3582.699951171875,
                        "z": 370.5826721191406
                    },
                    "rotation": {
                        "roll": -0.002929690293967724,
                        "pitch": 0.6166635751724243,
                        "yaw": -170.8880157470703
                    }
                },
                "velocity": {
                    "x": -1.3511645793914795,
                    "y": -0.22651223838329315,
                    "z": 0.014724111184477806
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.3245849609375,
                        "y": 3476.608642578125,
                        "z": 370.65179443359375
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0500457286834717,
                "transform": {
                    "location": {
                        "x": 933.9344482421875,
                        "y": 3607.52490234375,
                        "z": 370.88525390625
                    },
                    "rotation": {
                        "roll": 0.00021003508300054818,
                        "pitch": 0.057674113661050797,
                        "yaw": -80.70565032958984
                    }
                },
                "velocity": {
                    "x": 0.48753371834754944,
                    "y": -3.0108277797698975,
                    "z": 0.0025270937476307154
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0399231910705566,
                "transform": {
                    "location": {
                        "x": 931.412841796875,
                        "y": 3602.751708984375,
                        "z": 370.8975830078125
                    },
                    "rotation": {
                        "roll": -0.002532952232286334,
                        "pitch": 0.29117095470428467,
                        "yaw": -81.01579284667969
                    }
                },
                "velocity": {
                    "x": 0.16278624534606934,
                    "y": -1.0271022319793701,
                    "z": 0.0013733005616813898
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007505508256144822,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0010479734046384692,
                        "pitch": 0.002288113348186016,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -5.2325981414469425e-06,
                    "y": 7.102731274244434e-07,
                    "z": 0.0007505322573706508
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0636939552787226e-06,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": -0.009220754727721214,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": -1.458194986980743e-07,
                    "y": -1.10257997221197e-06,
                    "z": 1.738357582325989e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00025716141681186855,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.0005426600109785795,
                        "pitch": 0.5700270533561707,
                        "yaw": -170.7067413330078
                    }
                },
                "velocity": {
                    "x": 1.8630102204042487e-05,
                    "y": 4.155002443440026e-06,
                    "z": 0.0002564520400483161
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070920944213867,
                "transform": {
                    "location": {
                        "x": 937.9900512695312,
                        "y": 3519.744873046875,
                        "z": 370.8025207519531
                    },
                    "rotation": {
                        "roll": 0.00016058344044722617,
                        "pitch": 0.1589658111333847,
                        "yaw": 99.12724304199219
                    }
                },
                "velocity": {
                    "x": -1.2811315059661865,
                    "y": 7.968563079833984,
                    "z": 0.02166834846138954
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.9462280273438,
                        "y": 3491.38720703125,
                        "z": 370.7101135253906
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.556421481538564e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -1.4328811630548444e-05,
                    "y": 5.5344030442938674e-06,
                    "z": -4.289700882509351e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.126906712073833e-05,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8779296875
                    },
                    "rotation": {
                        "roll": -0.00012207299005240202,
                        "pitch": -0.04440305754542351,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -1.3129056242178194e-05,
                    "y": 3.916509285772918e-06,
                    "z": -6.993974966462702e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9725406169891357,
                "transform": {
                    "location": {
                        "x": 921.247802734375,
                        "y": 3624.373046875,
                        "z": 370.8746032714844
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.018858151510357857,
                        "yaw": 99.36576080322266
                    }
                },
                "velocity": {
                    "x": -0.33555442094802856,
                    "y": 1.9437891244888306,
                    "z": -0.0018469810020178556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.782771587371826,
                "transform": {
                    "location": {
                        "x": 943.55810546875,
                        "y": 3506.043701171875,
                        "z": 370.7914733886719
                    },
                    "rotation": {
                        "roll": 0.0011059809476137161,
                        "pitch": 0.15379536151885986,
                        "yaw": 99.64459228515625
                    }
                },
                "velocity": {
                    "x": -0.9706742763519287,
                    "y": 5.700673580169678,
                    "z": 0.023569975048303604
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.399128437042236,
                "transform": {
                    "location": {
                        "x": 938.6144409179688,
                        "y": 3536.322021484375,
                        "z": 370.8708801269531
                    },
                    "rotation": {
                        "roll": -0.0009765708819031715,
                        "pitch": 0.22107955813407898,
                        "yaw": 99.16944885253906
                    }
                },
                "velocity": {
                    "x": -0.7010253071784973,
                    "y": 4.342907905578613,
                    "z": 0.006965427193790674
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.433626651763916,
                "transform": {
                    "location": {
                        "x": 935.9607543945312,
                        "y": 3552.7958984375,
                        "z": 370.86627197265625
                    },
                    "rotation": {
                        "roll": -0.00042723622755147517,
                        "pitch": 0.19836917519569397,
                        "yaw": 99.17619323730469
                    }
                },
                "velocity": {
                    "x": -0.8625028729438782,
                    "y": 5.36473274230957,
                    "z": 0.005287685431540012
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059176445007324,
                "transform": {
                    "location": {
                        "x": 925.701171875,
                        "y": 3596.100341796875,
                        "z": 370.8932800292969
                    },
                    "rotation": {
                        "roll": -0.00039672880666330457,
                        "pitch": -0.0254766047000885,
                        "yaw": 99.14911651611328
                    }
                },
                "velocity": {
                    "x": -1.2810271978378296,
                    "y": 7.9567131996154785,
                    "z": -0.0022450636606663465
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.386186122894287,
                "transform": {
                    "location": {
                        "x": 872.4143676757812,
                        "y": 3568.292724609375,
                        "z": 371.34234619140625
                    },
                    "rotation": {
                        "roll": -0.0022277834359556437,
                        "pitch": 0.5184386372566223,
                        "yaw": -171.1478729248047
                    }
                },
                "velocity": {
                    "x": -5.318309307098389,
                    "y": -0.8518801927566528,
                    "z": 0.029822491109371185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.064111709594727,
                "transform": {
                    "location": {
                        "x": 940.9669189453125,
                        "y": 3521.77734375,
                        "z": 370.80120849609375
                    },
                    "rotation": {
                        "roll": -0.0029296844732016325,
                        "pitch": -0.12463045865297318,
                        "yaw": 98.92577362060547
                    }
                },
                "velocity": {
                    "x": -0.8163343667984009,
                    "y": 4.997864246368408,
                    "z": 0.01334600429981947
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.515848159790039,
                "transform": {
                    "location": {
                        "x": 933.500732421875,
                        "y": 3568.09619140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0006103518535383046,
                        "pitch": 0.07244781404733658,
                        "yaw": 99.11640167236328
                    }
                },
                "velocity": {
                    "x": -0.7178153991699219,
                    "y": 4.458430767059326,
                    "z": 0.004595327191054821
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049609184265137,
                "transform": {
                    "location": {
                        "x": 947.9083862304688,
                        "y": 3583.373046875,
                        "z": 370.74322509765625
                    },
                    "rotation": {
                        "roll": 0.13282273709774017,
                        "pitch": -0.572021484375,
                        "yaw": 10.668924331665039
                    }
                },
                "velocity": {
                    "x": 7.917535781860352,
                    "y": 1.4499878883361816,
                    "z": -0.07978856563568115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3955504894256592,
        "expert_target_speed": 5.676601638414534,
        "target_point": [
            15.248230433233552,
            0.2955074277355778
        ],
        "target_point_next": [
            33.24760274492162,
            0.15607576960674674
        ]
    },
    "785": {
        "acceleration": [
            -0.11585593223571777,
            0.2902412414550781,
            -0.13759024441242218
        ],
        "angular_velocity": [
            -2.496073007583618,
            -0.021471017971634865,
            0.9250618815422058
        ],
        "forward_vector": [
            -0.17037850618362427,
            0.9851604104042053,
            0.0207406897097826
        ],
        "right_vector": [
            -0.9853783249855042,
            -0.17035862803459167,
            -0.0027340238448232412
        ],
        "location": [
            929.7348022460938,
            3574.159912109375,
            370.9025573730469
        ],
        "rotation": [
            0.15668193995952606,
            1.188439130783081,
            99.81195831298828
        ],
        "velocity": [
            -0.9724515080451965,
            5.4879608154296875,
            0.05039253085851669
        ],
        "speed": 5.5734527760797485,
        "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": 24.32231903076172,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                925.380859375,
                3598.08935546875,
                370.8924255371094
            ],
            "velocity": [
                -1.2810419797897339,
                7.956050395965576,
                -0.0020997142419219017
            ],
            "speed_kmh": 29.01068680370081,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.157724380493164,
                "transform": {
                    "location": {
                        "x": 979.2411499023438,
                        "y": 3585.334716796875,
                        "z": 370.40234375
                    },
                    "rotation": {
                        "roll": 0.008346606977283955,
                        "pitch": 0.7400373220443726,
                        "yaw": -170.3936004638672
                    }
                },
                "velocity": {
                    "x": -8.044273376464844,
                    "y": -1.3522584438323975,
                    "z": 0.09762983024120331
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4814465343952179,
                "transform": {
                    "location": {
                        "x": 929.1884765625,
                        "y": 3616.4990234375,
                        "z": 370.8863830566406
                    },
                    "rotation": {
                        "roll": 0.0015581416664645076,
                        "pitch": 0.435124009847641,
                        "yaw": -80.71666717529297
                    }
                },
                "velocity": {
                    "x": 0.07803329080343246,
                    "y": -0.4750775396823883,
                    "z": 0.0017011261079460382
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.3256211280822754,
                "transform": {
                    "location": {
                        "x": 931.9894409179688,
                        "y": 3619.49658203125,
                        "z": 370.8731994628906
                    },
                    "rotation": {
                        "roll": 0.0014173092786222696,
                        "pitch": 0.09061611443758011,
                        "yaw": -80.5098648071289
                    }
                },
                "velocity": {
                    "x": 0.3715597093105316,
                    "y": -2.2957470417022705,
                    "z": 0.0014750193804502487
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.402456760406494,
                "transform": {
                    "location": {
                        "x": 940.3789672851562,
                        "y": 3505.4775390625,
                        "z": 370.76385498046875
                    },
                    "rotation": {
                        "roll": -0.0341796875,
                        "pitch": -0.0721677765250206,
                        "yaw": 99.42647552490234
                    }
                },
                "velocity": {
                    "x": -1.0734530687332153,
                    "y": 6.311764240264893,
                    "z": 0.02794346772134304
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8288359642028809,
                "transform": {
                    "location": {
                        "x": 962.9301147460938,
                        "y": 3582.642333984375,
                        "z": 370.5867919921875
                    },
                    "rotation": {
                        "roll": 0.0018955132691189647,
                        "pitch": 0.5661680102348328,
                        "yaw": -170.77456665039062
                    }
                },
                "velocity": {
                    "x": -0.820260226726532,
                    "y": -0.11880995333194733,
                    "z": 0.0051418780349195
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0704956054688,
                        "y": 3478.18798828125,
                        "z": 370.65838623046875
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.733401298522949,
                "transform": {
                    "location": {
                        "x": 934.0701293945312,
                        "y": 3606.688720703125,
                        "z": 370.88580322265625
                    },
                    "rotation": {
                        "roll": -9.155392763204873e-05,
                        "pitch": 0.060788679867982864,
                        "yaw": -80.74693298339844
                    }
                },
                "velocity": {
                    "x": 0.5963512659072876,
                    "y": -3.6854641437530518,
                    "z": 0.002012662822380662
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8253945112228394,
                "transform": {
                    "location": {
                        "x": 931.4259643554688,
                        "y": 3602.66552734375,
                        "z": 370.9004211425781
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": -0.06384177505970001,
                        "yaw": -80.95975494384766
                    }
                },
                "velocity": {
                    "x": 0.13099884986877441,
                    "y": -0.8149308562278748,
                    "z": 0.0017599677667021751
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.001372249680571258,
                        "pitch": 0.0021720000077039003,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4364140699617565e-05,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": -0.009220754727721214,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": -1.8339667349209776e-06,
                    "y": -3.2987793474603677e-07,
                    "z": 2.4292778107337654e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008348257979378104,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00033491928479634225,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70657348632812
                    }
                },
                "velocity": {
                    "x": 2.3370012058876455e-05,
                    "y": 1.6579711882513948e-05,
                    "z": 0.0008343338849954307
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.073105812072754,
                "transform": {
                    "location": {
                        "x": 937.669677734375,
                        "y": 3521.737060546875,
                        "z": 370.8078918457031
                    },
                    "rotation": {
                        "roll": -0.0003967394295614213,
                        "pitch": 0.15802325308322906,
                        "yaw": 99.15404510498047
                    }
                },
                "velocity": {
                    "x": -1.2825984954833984,
                    "y": 7.970541000366211,
                    "z": 0.02138380892574787
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.7583618164062,
                        "y": 3492.55517578125,
                        "z": 370.7143249511719
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003773016214836389,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 9.451542427996174e-05,
                        "pitch": -0.03875449299812317,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 1.1243323569942731e-05,
                    "y": 3.9063206713763066e-06,
                    "z": 0.00037711384356953204
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.872359128668904e-05,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8779296875
                    },
                    "rotation": {
                        "roll": -0.00012207299005240202,
                        "pitch": -0.04440305754542351,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 5.427470568974968e-06,
                    "y": -2.051517412837711e-06,
                    "z": 7.850947440601885e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7181804180145264,
                "transform": {
                    "location": {
                        "x": 921.1484375,
                        "y": 3624.954345703125,
                        "z": 370.87420654296875
                    },
                    "rotation": {
                        "roll": -0.0013122559757903218,
                        "pitch": -0.019226981326937675,
                        "yaw": 99.49066162109375
                    }
                },
                "velocity": {
                    "x": -0.4628745913505554,
                    "y": 2.678478717803955,
                    "z": -0.0018030261853709817
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.991643905639648,
                "transform": {
                    "location": {
                        "x": 943.3435668945312,
                        "y": 3507.303955078125,
                        "z": 370.79595947265625
                    },
                    "rotation": {
                        "roll": 0.0018358335364609957,
                        "pitch": 0.11215169727802277,
                        "yaw": 99.65365600585938
                    }
                },
                "velocity": {
                    "x": -0.8370361328125,
                    "y": 4.92094087600708,
                    "z": 0.01485164649784565
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.247013568878174,
                "transform": {
                    "location": {
                        "x": 938.41552734375,
                        "y": 3537.556884765625,
                        "z": 370.8736877441406
                    },
                    "rotation": {
                        "roll": -3.051596650038846e-05,
                        "pitch": 0.22282807528972626,
                        "yaw": 99.19107818603516
                    }
                },
                "velocity": {
                    "x": -0.8351466655731201,
                    "y": 5.180111408233643,
                    "z": 0.011428003199398518
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.686079502105713,
                "transform": {
                    "location": {
                        "x": 935.731689453125,
                        "y": 3554.21875,
                        "z": 370.867919921875
                    },
                    "rotation": {
                        "roll": -0.000183110183570534,
                        "pitch": 0.2948114275932312,
                        "yaw": 99.1536636352539
                    }
                },
                "velocity": {
                    "x": -1.0625358819961548,
                    "y": 6.601109027862549,
                    "z": 0.006016874220222235
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.058524131774902,
                "transform": {
                    "location": {
                        "x": 925.380859375,
                        "y": 3598.08935546875,
                        "z": 370.8924255371094
                    },
                    "rotation": {
                        "roll": -3.051657222385984e-05,
                        "pitch": -0.02325679361820221,
                        "yaw": 99.14391326904297
                    }
                },
                "velocity": {
                    "x": -1.2810419797897339,
                    "y": 7.956050395965576,
                    "z": -0.0020997142419219017
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.24335989356040955,
                "transform": {
                    "location": {
                        "x": 871.7098388671875,
                        "y": 3568.181396484375,
                        "z": 371.34393310546875
                    },
                    "rotation": {
                        "roll": -0.006439211778342724,
                        "pitch": 0.7765241861343384,
                        "yaw": -171.1798095703125
                    }
                },
                "velocity": {
                    "x": -0.24080510437488556,
                    "y": -0.035146377980709076,
                    "z": 0.001292056986130774
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00509957130998373,
                "transform": {
                    "location": {
                        "x": 940.8967895507812,
                        "y": 3522.20751953125,
                        "z": 370.8014221191406
                    },
                    "rotation": {
                        "roll": 0.011529335752129555,
                        "pitch": -0.5392775535583496,
                        "yaw": 98.7767333984375
                    }
                },
                "velocity": {
                    "x": 0.0011370453285053372,
                    "y": -0.004863153211772442,
                    "z": 0.0010307737393304706
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.054050922393799,
                "transform": {
                    "location": {
                        "x": 933.3324584960938,
                        "y": 3569.142822265625,
                        "z": 370.8777770996094
                    },
                    "rotation": {
                        "roll": 0.00021918978018220514,
                        "pitch": -0.047367360442876816,
                        "yaw": 99.125244140625
                    }
                },
                "velocity": {
                    "x": -0.6429981589317322,
                    "y": 4.0027313232421875,
                    "z": 0.00490989675745368
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052337646484375,
                "transform": {
                    "location": {
                        "x": 949.889404296875,
                        "y": 3583.72314453125,
                        "z": 370.7233581542969
                    },
                    "rotation": {
                        "roll": 0.06219446659088135,
                        "pitch": -0.5723561644554138,
                        "yaw": 9.91923713684082
                    }
                },
                "velocity": {
                    "x": 7.934345722198486,
                    "y": 1.3710887432098389,
                    "z": -0.08010746538639069
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3508649170398712,
        "expert_target_speed": 6.528995158144541,
        "target_point": [
            13.913717136473332,
            0.2334392756702579
        ],
        "target_point_next": [
            31.912401161613545,
            0.023158118134889882
        ]
    },
    "790": {
        "acceleration": [
            -1.7126011848449707,
            8.371038436889648,
            -0.09763069450855255
        ],
        "angular_velocity": [
            -0.4830063581466675,
            0.19395498931407928,
            0.8218854069709778
        ],
        "forward_vector": [
            -0.17451238632202148,
            0.9844526648521423,
            0.019959671422839165
        ],
        "right_vector": [
            -0.9846314191818237,
            -0.17461253702640533,
            0.003377274377271533
        ],
        "location": [
            929.4531860351562,
            3575.73828125,
            370.9164123535156
        ],
        "rotation": [
            -0.1935424953699112,
            1.1436809301376343,
            100.05230712890625
        ],
        "velocity": [
            -1.3135241270065308,
            7.317314147949219,
            0.03766140714287758
        ],
        "speed": 7.434274138879066,
        "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": 24.733522415161133,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                925.0606079101562,
                3600.07861328125,
                370.8914794921875
            ],
            "velocity": [
                -1.280977725982666,
                7.9568071365356445,
                -0.005310001317411661
            ],
            "speed_kmh": 29.013344976480834,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.853955268859863,
                "transform": {
                    "location": {
                        "x": 977.3905029296875,
                        "y": 3585.023681640625,
                        "z": 370.4255065917969
                    },
                    "rotation": {
                        "roll": 0.002925760578364134,
                        "pitch": 0.6090274453163147,
                        "yaw": -170.46441650390625
                    }
                },
                "velocity": {
                    "x": -6.759183883666992,
                    "y": -1.133110523223877,
                    "z": 0.07873771339654922
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6284667253494263,
                "transform": {
                    "location": {
                        "x": 929.2322387695312,
                        "y": 3616.23046875,
                        "z": 370.8901062011719
                    },
                    "rotation": {
                        "roll": 0.0007779142470099032,
                        "pitch": 0.006775547284632921,
                        "yaw": -80.71775817871094
                    }
                },
                "velocity": {
                    "x": 0.2623329162597656,
                    "y": -1.6071970462799072,
                    "z": 0.0017256068531423807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4769502878189087,
                "transform": {
                    "location": {
                        "x": 932.0392456054688,
                        "y": 3619.1962890625,
                        "z": 370.8738098144531
                    },
                    "rotation": {
                        "roll": -0.00097656378056854,
                        "pitch": 0.03152815252542496,
                        "yaw": -80.5517349243164
                    }
                },
                "velocity": {
                    "x": 0.2418714463710785,
                    "y": -1.4570096731185913,
                    "z": 0.001839380245655775
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.6276960372924805,
                "transform": {
                    "location": {
                        "x": 940.1051635742188,
                        "y": 3507.0869140625,
                        "z": 370.7672424316406
                    },
                    "rotation": {
                        "roll": -0.011840835213661194,
                        "pitch": 0.18645049631595612,
                        "yaw": 99.68183135986328
                    }
                },
                "velocity": {
                    "x": -1.1275602579116821,
                    "y": 6.5310516357421875,
                    "z": 0.0180315300822258
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4155426025390625,
                "transform": {
                    "location": {
                        "x": 962.4389038085938,
                        "y": 3582.56201171875,
                        "z": 370.59130859375
                    },
                    "rotation": {
                        "roll": -0.0016479480545967817,
                        "pitch": 0.6668859720230103,
                        "yaw": -170.843017578125
                    }
                },
                "velocity": {
                    "x": -2.3836755752563477,
                    "y": -0.39034122228622437,
                    "z": 0.023885421454906464
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.8772583007812,
                        "y": 3479.388916015625,
                        "z": 370.6634216308594
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2084436416625977,
                "transform": {
                    "location": {
                        "x": 934.216064453125,
                        "y": 3605.788330078125,
                        "z": 370.88665771484375
                    },
                    "rotation": {
                        "roll": 0.00026914046611636877,
                        "pitch": 0.03084513172507286,
                        "yaw": -80.77536010742188
                    }
                },
                "velocity": {
                    "x": 0.5123791694641113,
                    "y": -3.1672661304473877,
                    "z": 0.001953515922650695
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0018940054578706622,
                "transform": {
                    "location": {
                        "x": 931.4312133789062,
                        "y": 3602.62939453125,
                        "z": 370.900390625
                    },
                    "rotation": {
                        "roll": 0.00016705290181562304,
                        "pitch": -0.060542792081832886,
                        "yaw": -80.89503479003906
                    }
                },
                "velocity": {
                    "x": -0.00010785993072204292,
                    "y": 0.0003768022288568318,
                    "z": 0.001853009220212698
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007700585993006825,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0014341340865939856,
                        "pitch": 0.0022403020411729813,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -9.48782417253824e-06,
                    "y": -1.913384039653465e-06,
                    "z": 0.000769997772295028
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.196043326170184e-05,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": -0.009220754727721214,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 9.42591569241813e-08,
                    "y": -4.461035096881005e-09,
                    "z": 3.196029501850717e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005174420075491071,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 1.7506852600490674e-05,
                    "y": 2.438030242046807e-05,
                    "z": 0.0005165707552805543
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.071556091308594,
                "transform": {
                    "location": {
                        "x": 937.3488159179688,
                        "y": 3523.729248046875,
                        "z": 370.8132629394531
                    },
                    "rotation": {
                        "roll": -0.00036621003528125584,
                        "pitch": 0.14680124819278717,
                        "yaw": 99.13190460205078
                    }
                },
                "velocity": {
                    "x": -1.2827497720718384,
                    "y": 7.968946933746338,
                    "z": 0.021237917244434357
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5042114257812,
                        "y": 3494.13427734375,
                        "z": 370.7200012207031
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015071309462655336,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.0003780100087169558,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 3.0026747026568046e-06,
                    "y": 3.1489737466472434e-06,
                    "z": 0.0001506502740085125
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.092715532053262e-05,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8779296875
                    },
                    "rotation": {
                        "roll": -0.00015259039355441928,
                        "pitch": -0.04446452856063843,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -6.127999768068548e-06,
                    "y": 2.7781957214756403e-06,
                    "z": -7.06072969478555e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.4842827320098877,
                "transform": {
                    "location": {
                        "x": 921.0162963867188,
                        "y": 3625.7236328125,
                        "z": 370.8736572265625
                    },
                    "rotation": {
                        "roll": -0.0015258794883266091,
                        "pitch": -0.02026516944169998,
                        "yaw": 99.61173248291016
                    }
                },
                "velocity": {
                    "x": -0.5945689082145691,
                    "y": 3.4331774711608887,
                    "z": -0.0025093364529311657
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.256178855895996,
                "transform": {
                    "location": {
                        "x": 943.1253662109375,
                        "y": 3508.58544921875,
                        "z": 370.7996826171875
                    },
                    "rotation": {
                        "roll": 0.0015047427732497454,
                        "pitch": 0.17239396274089813,
                        "yaw": 99.66264343261719
                    }
                },
                "velocity": {
                    "x": -0.8819366097450256,
                    "y": 5.181635856628418,
                    "z": 0.015847090631723404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.668674468994141,
                "transform": {
                    "location": {
                        "x": 938.1995239257812,
                        "y": 3538.89794921875,
                        "z": 370.87689208984375
                    },
                    "rotation": {
                        "roll": 0.0005757460603490472,
                        "pitch": 0.1692315936088562,
                        "yaw": 99.210693359375
                    }
                },
                "velocity": {
                    "x": -0.9026012420654297,
                    "y": 5.596344470977783,
                    "z": 0.010492782108485699
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.828331470489502,
                "transform": {
                    "location": {
                        "x": 935.4490356445312,
                        "y": 3555.97607421875,
                        "z": 370.8697814941406
                    },
                    "rotation": {
                        "roll": -6.103167470428161e-05,
                        "pitch": 0.14773698151111603,
                        "yaw": 99.13630676269531
                    }
                },
                "velocity": {
                    "x": -1.0844309329986572,
                    "y": 6.741666316986084,
                    "z": 0.007598094642162323
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0592622756958,
                "transform": {
                    "location": {
                        "x": 925.0606079101562,
                        "y": 3600.07861328125,
                        "z": 370.8914794921875
                    },
                    "rotation": {
                        "roll": -0.0007324194884859025,
                        "pitch": -0.03332449123263359,
                        "yaw": 99.14907836914062
                    }
                },
                "velocity": {
                    "x": -1.280977725982666,
                    "y": 7.9568071365356445,
                    "z": -0.005310001317411661
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0025343731977045536,
                "transform": {
                    "location": {
                        "x": 871.71044921875,
                        "y": 3568.181396484375,
                        "z": 371.3465576171875
                    },
                    "rotation": {
                        "roll": -0.0017700191820040345,
                        "pitch": 0.4575953185558319,
                        "yaw": -171.17919921875
                    }
                },
                "velocity": {
                    "x": 0.0014042190741747618,
                    "y": 0.0002489829494152218,
                    "z": 0.0020950473845005035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3059189319610596,
                "transform": {
                    "location": {
                        "x": 940.8644409179688,
                        "y": 3522.40869140625,
                        "z": 370.8030090332031
                    },
                    "rotation": {
                        "roll": 0.000995188602246344,
                        "pitch": 0.11652985215187073,
                        "yaw": 98.80142211914062
                    }
                },
                "velocity": {
                    "x": -0.20566792786121368,
                    "y": 1.2896195650100708,
                    "z": 0.0025268744211643934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.061676502227783,
                "transform": {
                    "location": {
                        "x": 933.1675415039062,
                        "y": 3570.16845703125,
                        "z": 370.8785095214844
                    },
                    "rotation": {
                        "roll": -0.0010070803109556437,
                        "pitch": 0.017478452995419502,
                        "yaw": 99.13392639160156
                    }
                },
                "velocity": {
                    "x": -0.6444621086120605,
                    "y": 4.010220050811768,
                    "z": 0.004275856073945761
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059835433959961,
                "transform": {
                    "location": {
                        "x": 951.8754272460938,
                        "y": 3584.0615234375,
                        "z": 370.7033386230469
                    },
                    "rotation": {
                        "roll": 0.029438257217407227,
                        "pitch": -0.5713452696800232,
                        "yaw": 9.606060028076172
                    }
                },
                "velocity": {
                    "x": 7.947930335998535,
                    "y": 1.336012363433838,
                    "z": -0.0801180899143219
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.25940969586372375,
        "expert_target_speed": 8.092128781669249,
        "target_point": [
            12.311279241927249,
            0.17328572227153005
        ],
        "target_point_next": [
            30.308922981362187,
            -0.11248451835925888
        ]
    },
    "795": {
        "acceleration": [
            0.23883819580078125,
            -0.9351539611816406,
            0.05168706178665161
        ],
        "angular_velocity": [
            -4.067144393920898,
            1.4271471500396729,
            1.278206706047058
        ],
        "forward_vector": [
            -0.17959396541118622,
            0.9836974143981934,
            0.009242522530257702
        ],
        "right_vector": [
            -0.983695387840271,
            -0.17966802418231964,
            0.007922482676804066
        ],
        "location": [
            929.1000366210938,
            3577.670654296875,
            370.92767333984375
        ],
        "rotation": [
            -0.453948974609375,
            0.5295650362968445,
            100.3465576171875
        ],
        "velocity": [
            -1.4239556789398193,
            7.803196430206299,
            0.039449337869882584
        ],
        "speed": 7.9320567511818325,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.6260533024957775,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.89504337310791,
        "front_vehicle_info": {
            "id": 4853,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.9346923828125,
                3593.09619140625,
                370.9025573730469
            ],
            "velocity": [
                4.442143108462915e-06,
                1.9262660089225392e-07,
                -0.00026530964532867074
            ],
            "speed_kmh": 0.000955248842070472,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.050394535064697,
                "transform": {
                    "location": {
                        "x": 975.93505859375,
                        "y": 3584.7802734375,
                        "z": 370.4432373046875
                    },
                    "rotation": {
                        "roll": 0.004389598499983549,
                        "pitch": 0.521327793598175,
                        "yaw": -170.41439819335938
                    }
                },
                "velocity": {
                    "x": -3.9951541423797607,
                    "y": -0.66508549451828,
                    "z": 0.04585062712430954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2644588947296143,
                "transform": {
                    "location": {
                        "x": 929.3142700195312,
                        "y": 3615.728759765625,
                        "z": 370.89080810546875
                    },
                    "rotation": {
                        "roll": 0.0005675661377608776,
                        "pitch": -0.03665079176425934,
                        "yaw": -80.72187805175781
                    }
                },
                "velocity": {
                    "x": 0.3651041090488434,
                    "y": -2.2348315715789795,
                    "z": 0.0012807082384824753
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8153910040855408,
                "transform": {
                    "location": {
                        "x": 932.1157836914062,
                        "y": 3618.76708984375,
                        "z": 370.8741455078125
                    },
                    "rotation": {
                        "roll": -0.00250244140625,
                        "pitch": 0.022478152066469193,
                        "yaw": -81.02462005615234
                    }
                },
                "velocity": {
                    "x": 0.1596240997314453,
                    "y": -0.7996127009391785,
                    "z": 0.0014818381750956178
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.3909759521484375,
                "transform": {
                    "location": {
                        "x": 939.8478393554688,
                        "y": 3508.579833984375,
                        "z": 370.7727966308594
                    },
                    "rotation": {
                        "roll": 0.002567114308476448,
                        "pitch": -0.009371018968522549,
                        "yaw": 99.79790496826172
                    }
                },
                "velocity": {
                    "x": -0.9120067954063416,
                    "y": 5.313253879547119,
                    "z": 0.014179486781358719
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006549911922775209,
                "transform": {
                    "location": {
                        "x": 962.3397216796875,
                        "y": 3582.54248046875,
                        "z": 370.59307861328125
                    },
                    "rotation": {
                        "roll": 0.00014980994455982,
                        "pitch": 0.514121949672699,
                        "yaw": -171.15777587890625
                    }
                },
                "velocity": {
                    "x": 0.00026112832711078227,
                    "y": -1.948532553797122e-05,
                    "z": -0.0006003713933750987
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.689208984375,
                        "y": 3480.556884765625,
                        "z": 370.66815185546875
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3865630626678467,
                "transform": {
                    "location": {
                        "x": 934.31591796875,
                        "y": 3605.17138671875,
                        "z": 370.8874206542969
                    },
                    "rotation": {
                        "roll": -9.155262523563579e-05,
                        "pitch": -0.007998150773346424,
                        "yaw": -80.79124450683594
                    }
                },
                "velocity": {
                    "x": 0.22141213715076447,
                    "y": -1.3687703609466553,
                    "z": 0.0011915683280676603
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0019486015662550926,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.89971923828125
                    },
                    "rotation": {
                        "roll": -0.0008850089507177472,
                        "pitch": 0.026706038042902946,
                        "yaw": -80.89503479003906
                    }
                },
                "velocity": {
                    "x": -9.8629534477368e-06,
                    "y": 0.000592069118283689,
                    "z": 0.0018564495258033276
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.743555761408061e-05,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.001234404742717743,
                        "pitch": 0.0022471321281045675,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -4.700753379438538e-06,
                    "y": -1.0699312724682386e-06,
                    "z": -7.728533819317818e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00026534689823165536,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": -0.009220754727721214,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 4.442143108462915e-06,
                    "y": 1.9262660089225392e-07,
                    "z": -0.00026530964532867074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009110280079767108,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 2.5073884899029508e-05,
                    "y": 9.145261174126063e-06,
                    "z": 0.0009106369689106941
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.071534156799316,
                "transform": {
                    "location": {
                        "x": 937.0283203125,
                        "y": 3525.721435546875,
                        "z": 370.818359375
                    },
                    "rotation": {
                        "roll": -0.00015259248903021216,
                        "pitch": 0.1431402713060379,
                        "yaw": 99.15850830078125
                    }
                },
                "velocity": {
                    "x": -1.2842706441879272,
                    "y": 7.968679428100586,
                    "z": 0.021348046138882637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.3109130859375,
                        "y": 3495.335205078125,
                        "z": 370.7240905761719
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00040653994074091315,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 4.1812659219431225e-06,
                    "y": -4.192502274236176e-06,
                    "z": 0.0004064968088641763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00029756862204521894,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8779296875
                    },
                    "rotation": {
                        "roll": -0.00012207299005240202,
                        "pitch": -0.04434158653020859,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -3.716430455824593e-06,
                    "y": -4.810774498764658e-06,
                    "z": 0.0002975065144710243
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.206244468688965,
                "transform": {
                    "location": {
                        "x": 920.8524780273438,
                        "y": 3626.67431640625,
                        "z": 370.873046875
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.02026516944169998,
                        "yaw": 99.70978546142578
                    }
                },
                "velocity": {
                    "x": -0.7187519073486328,
                    "y": 4.144379615783691,
                    "z": -0.002529678400605917
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.771368503570557,
                "transform": {
                    "location": {
                        "x": 942.8973999023438,
                        "y": 3509.9423828125,
                        "z": 370.8033752441406
                    },
                    "rotation": {
                        "roll": 0.005941718351095915,
                        "pitch": 0.19620400667190552,
                        "yaw": 99.55674743652344
                    }
                },
                "velocity": {
                    "x": -0.9434069395065308,
                    "y": 5.693714618682861,
                    "z": 0.017046336084604263
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8940324783325195,
                "transform": {
                    "location": {
                        "x": 937.9345092773438,
                        "y": 3540.537353515625,
                        "z": 370.8787841796875
                    },
                    "rotation": {
                        "roll": -0.00030517540290020406,
                        "pitch": 0.3179931044578552,
                        "yaw": 99.16303253173828
                    }
                },
                "velocity": {
                    "x": -1.2574350833892822,
                    "y": 7.793228626251221,
                    "z": 0.013859023340046406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.2003869265317917,
                "transform": {
                    "location": {
                        "x": 935.3175659179688,
                        "y": 3556.793701171875,
                        "z": 370.87005615234375
                    },
                    "rotation": {
                        "roll": 7.732965605100617e-05,
                        "pitch": -0.911461353302002,
                        "yaw": 99.13407135009766
                    }
                },
                "velocity": {
                    "x": -0.031736940145492554,
                    "y": 0.19785062968730927,
                    "z": 0.0016788863576948643
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059375762939453,
                "transform": {
                    "location": {
                        "x": 924.7402954101562,
                        "y": 3602.067626953125,
                        "z": 370.89013671875
                    },
                    "rotation": {
                        "roll": -0.00021362188272178173,
                        "pitch": -0.039676565676927567,
                        "yaw": 99.14395904541016
                    }
                },
                "velocity": {
                    "x": -1.2811839580535889,
                    "y": 7.956888198852539,
                    "z": -0.005903272423893213
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010942145017907023,
                "transform": {
                    "location": {
                        "x": 871.7112426757812,
                        "y": 3568.181884765625,
                        "z": 371.34759521484375
                    },
                    "rotation": {
                        "roll": -0.0012817373499274254,
                        "pitch": 0.3304172158241272,
                        "yaw": -171.17919921875
                    }
                },
                "velocity": {
                    "x": 0.0002011491305893287,
                    "y": 3.220532107661711e-06,
                    "z": 0.0010755622060969472
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2971484661102295,
                "transform": {
                    "location": {
                        "x": 940.794189453125,
                        "y": 3522.8466796875,
                        "z": 370.8043518066406
                    },
                    "rotation": {
                        "roll": -0.0026550116017460823,
                        "pitch": 0.26825565099716187,
                        "yaw": 98.86886596679688
                    }
                },
                "velocity": {
                    "x": -0.3640306890010834,
                    "y": 2.2681148052215576,
                    "z": 0.005265235900878906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.219342231750488,
                "transform": {
                    "location": {
                        "x": 933.00927734375,
                        "y": 3571.15234375,
                        "z": 370.88214111328125
                    },
                    "rotation": {
                        "roll": -0.0004272421938367188,
                        "pitch": 0.16997608542442322,
                        "yaw": 99.1355972290039
                    }
                },
                "velocity": {
                    "x": -0.6708977222442627,
                    "y": 4.165576457977295,
                    "z": 0.026808613911271095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052199363708496,
                "transform": {
                    "location": {
                        "x": 953.8616943359375,
                        "y": 3584.392333984375,
                        "z": 370.6833801269531
                    },
                    "rotation": {
                        "roll": 0.013304349035024643,
                        "pitch": -0.5729367136955261,
                        "yaw": 9.456485748291016
                    }
                },
                "velocity": {
                    "x": 7.943342685699463,
                    "y": 1.317117691040039,
                    "z": -0.08017854392528534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22354421019554138,
        "expert_target_speed": 8.472535686572089,
        "target_point": [
            10.347629152439668,
            0.10969811443414357
        ],
        "target_point_next": [
            28.343567622235252,
            -0.2685126646073517
        ]
    },
    "800": {
        "acceleration": [
            0.5634021759033203,
            -3.819141387939453,
            -0.009930608794093132
        ],
        "angular_velocity": [
            -1.4331445693969727,
            -0.35497966408729553,
            1.194258451461792
        ],
        "forward_vector": [
            -0.18500623106956482,
            0.9827371835708618,
            -0.0005917547969147563
        ],
        "right_vector": [
            -0.9827072620391846,
            -0.18499581515789032,
            0.00793932843953371
        ],
        "location": [
            928.75390625,
            3579.531494140625,
            370.9302673339844
        ],
        "rotation": [
            -0.45489490032196045,
            -0.03390505537390709,
            100.6614990234375
        ],
        "velocity": [
            -1.3464548587799072,
            7.081550121307373,
            -0.005723838694393635
        ],
        "speed": 7.208418190374396,
        "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": 24.90561866760254,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                924.420166015625,
                3604.05712890625,
                370.8887939453125
            ],
            "velocity": [
                -1.2799980640411377,
                7.956493854522705,
                -0.005426101386547089
            ],
            "speed_kmh": 29.01167140150381,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.554833710193634,
                "transform": {
                    "location": {
                        "x": 975.6482543945312,
                        "y": 3584.7333984375,
                        "z": 370.4468688964844
                    },
                    "rotation": {
                        "roll": 0.0023693677503615618,
                        "pitch": 0.43773314356803894,
                        "yaw": -170.3521728515625
                    }
                },
                "velocity": {
                    "x": -0.5470936298370361,
                    "y": -0.09213601797819138,
                    "z": 0.006324777379631996
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6608679294586182,
                "transform": {
                    "location": {
                        "x": 929.3926391601562,
                        "y": 3615.247314453125,
                        "z": 370.8902282714844
                    },
                    "rotation": {
                        "roll": 0.0005901581607758999,
                        "pitch": 0.0768396258354187,
                        "yaw": -80.72351837158203
                    }
                },
                "velocity": {
                    "x": 0.2666795551776886,
                    "y": -1.6393170356750488,
                    "z": 0.0020032785832881927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.47602379322052,
                "transform": {
                    "location": {
                        "x": 932.1519165039062,
                        "y": 3618.55419921875,
                        "z": 370.8740539550781
                    },
                    "rotation": {
                        "roll": 0.0002077072422252968,
                        "pitch": 0.0632680356502533,
                        "yaw": -81.05330657958984
                    }
                },
                "velocity": {
                    "x": 0.23680295050144196,
                    "y": -1.4569036960601807,
                    "z": 0.0015334319323301315
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.66707181930542,
                "transform": {
                    "location": {
                        "x": 939.57421875,
                        "y": 3510.34765625,
                        "z": 370.7785339355469
                    },
                    "rotation": {
                        "roll": -0.027069086208939552,
                        "pitch": -0.1403808742761612,
                        "yaw": 99.18221282958984
                    }
                },
                "velocity": {
                    "x": -1.0357732772827148,
                    "y": 6.5861124992370605,
                    "z": 0.011929254047572613
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00121688237413764,
                "transform": {
                    "location": {
                        "x": 962.33935546875,
                        "y": 3582.54248046875,
                        "z": 370.5926818847656
                    },
                    "rotation": {
                        "roll": -0.0027160656172782183,
                        "pitch": 0.5783052444458008,
                        "yaw": -171.15777587890625
                    }
                },
                "velocity": {
                    "x": 0.00010453700815560296,
                    "y": 3.7037116271676496e-05,
                    "z": 0.0012118180748075247
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.4351196289062,
                        "y": 3482.13623046875,
                        "z": 370.6745910644531
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.24441352486610413,
                "transform": {
                    "location": {
                        "x": 934.3234252929688,
                        "y": 3605.126708984375,
                        "z": 370.8874206542969
                    },
                    "rotation": {
                        "roll": 0.0002957725082524121,
                        "pitch": -0.0063110943883657455,
                        "yaw": -80.80906677246094
                    }
                },
                "velocity": {
                    "x": 0.03884836286306381,
                    "y": -0.24130047857761383,
                    "z": 0.0016884421929717064
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011332231224514544,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.6279296875,
                        "z": 370.89959716796875
                    },
                    "rotation": {
                        "roll": -0.0012207014951854944,
                        "pitch": 0.04171879217028618,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": 0.00010892486898228526,
                    "y": -2.6597428586683236e-05,
                    "z": 1.6428515664301813e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009592734277248383,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0014186525950208306,
                        "pitch": 0.002281283028423786,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": 2.0687924916273914e-05,
                    "y": -3.9259495565602265e-07,
                    "z": 0.000959050259552896
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002295068698003888,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 0.0007270386558957398,
                        "pitch": -0.009555433876812458,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": -2.762695658020675e-06,
                    "y": 6.479292551375693e-07,
                    "z": -0.0002294893201906234
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000585874542593956,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 2.1528825527639128e-05,
                    "y": 8.021742360142525e-06,
                    "z": 0.0005854238988831639
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072254180908203,
                "transform": {
                    "location": {
                        "x": 936.7073974609375,
                        "y": 3527.713623046875,
                        "z": 370.8233947753906
                    },
                    "rotation": {
                        "roll": 0.001798546640202403,
                        "pitch": 0.1462411731481552,
                        "yaw": 99.13328552246094
                    }
                },
                "velocity": {
                    "x": -1.2829480171203613,
                    "y": 7.9696221351623535,
                    "z": 0.02115623466670513
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.0668334960938,
                        "y": 3496.8515625,
                        "z": 370.7292175292969
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002117648400599137,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 1.011601966638409e-06,
                    "y": -2.072374400086119e-06,
                    "z": 0.00021175228175707161
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001886507379822433,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8779296875
                    },
                    "rotation": {
                        "roll": -0.00012207299005240202,
                        "pitch": -0.04434158653020859,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -2.217549626948312e-05,
                    "y": -3.5233793482802866e-07,
                    "z": 0.00018734253535512835
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.974670886993408,
                "transform": {
                    "location": {
                        "x": 920.6576538085938,
                        "y": 3627.807373046875,
                        "z": 370.8722229003906
                    },
                    "rotation": {
                        "roll": 0.0007994606276042759,
                        "pitch": -0.0205998495221138,
                        "yaw": 99.72200012207031
                    }
                },
                "velocity": {
                    "x": -0.8266138434410095,
                    "y": 4.905512809753418,
                    "z": -0.002171754837036133
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.941129684448242,
                "transform": {
                    "location": {
                        "x": 942.6449584960938,
                        "y": 3511.46240234375,
                        "z": 370.8078918457031
                    },
                    "rotation": {
                        "roll": 0.0026477514766156673,
                        "pitch": 0.1766969859600067,
                        "yaw": 99.48385620117188
                    }
                },
                "velocity": {
                    "x": -0.971174418926239,
                    "y": 5.861189365386963,
                    "z": 0.017319153994321823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.696061611175537,
                "transform": {
                    "location": {
                        "x": 937.6163940429688,
                        "y": 3542.512451171875,
                        "z": 370.8837890625
                    },
                    "rotation": {
                        "roll": 0.0010754778049886227,
                        "pitch": 0.14050380885601044,
                        "yaw": 99.14872741699219
                    }
                },
                "velocity": {
                    "x": -1.223540186882019,
                    "y": 7.598165512084961,
                    "z": 0.013884009793400764
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5782361030578613,
                "transform": {
                    "location": {
                        "x": 935.287109375,
                        "y": 3556.983154296875,
                        "z": 370.8707580566406
                    },
                    "rotation": {
                        "roll": -0.0013732886873185635,
                        "pitch": -0.04959399998188019,
                        "yaw": 99.17117309570312
                    }
                },
                "velocity": {
                    "x": -0.251050740480423,
                    "y": 1.558139443397522,
                    "z": 0.0020462225656956434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.058797836303711,
                "transform": {
                    "location": {
                        "x": 924.420166015625,
                        "y": 3604.05712890625,
                        "z": 370.8887939453125
                    },
                    "rotation": {
                        "roll": -6.10364877502434e-05,
                        "pitch": -0.03887743502855301,
                        "yaw": 99.14814758300781
                    }
                },
                "velocity": {
                    "x": -1.2799980640411377,
                    "y": 7.956493854522705,
                    "z": -0.005426101386547089
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013260320702102035,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": 1.5005320165073499e-05,
                    "y": 6.651868716289755e-06,
                    "z": -0.00013158343790564686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7726712226867676,
                "transform": {
                    "location": {
                        "x": 940.6744995117188,
                        "y": 3523.5888671875,
                        "z": 370.8064270019531
                    },
                    "rotation": {
                        "roll": -0.004547113552689552,
                        "pitch": 0.35767650604248047,
                        "yaw": 99.00813293457031
                    }
                },
                "velocity": {
                    "x": -0.6012662053108215,
                    "y": 3.7244367599487305,
                    "z": 0.00991214718669653
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.313037395477295,
                "transform": {
                    "location": {
                        "x": 932.8167724609375,
                        "y": 3572.3466796875,
                        "z": 370.8863525390625
                    },
                    "rotation": {
                        "roll": -0.15493769943714142,
                        "pitch": 0.670191764831543,
                        "yaw": 99.15660095214844
                    }
                },
                "velocity": {
                    "x": -0.8344345688819885,
                    "y": 5.247059345245361,
                    "z": 0.021301737055182457
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057311058044434,
                "transform": {
                    "location": {
                        "x": 955.8482666015625,
                        "y": 3584.720947265625,
                        "z": 370.66339111328125
                    },
                    "rotation": {
                        "roll": 0.005643677897751331,
                        "pitch": -0.5716253519058228,
                        "yaw": 9.357305526733398
                    }
                },
                "velocity": {
                    "x": 7.9496660232543945,
                    "y": 1.310202956199646,
                    "z": -0.08023874461650848
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19433283805847168,
        "expert_target_speed": 7.915816019861024,
        "target_point": [
            8.455322709759974,
            0.05693307180423002
        ],
        "target_point_next": [
            26.44891051198532,
            -0.4201862064261217
        ]
    },
    "805": {
        "acceleration": [
            1.816103458404541,
            -10.132246017456055,
            0.08336618542671204
        ],
        "angular_velocity": [
            -5.251455307006836,
            -1.2236758470535278,
            3.213597536087036
        ],
        "forward_vector": [
            -0.19069494307041168,
            0.9815556406974792,
            -0.013560952618718147
        ],
        "right_vector": [
            -0.9816474914550781,
            -0.19064924120903015,
            0.004599373787641525
        ],
        "location": [
            928.4308471679688,
            3581.213134765625,
            370.91949462890625
        ],
        "rotation": [
            -0.2635498642921448,
            -0.777009129524231,
            100.99436950683594
        ],
        "velocity": [
            -1.2066181898117065,
            6.082434177398682,
            -0.09458692371845245
        ],
        "speed": 6.2009622622922045,
        "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": 25.208091735839844,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                924.0999755859375,
                3606.04638671875,
                370.887451171875
            ],
            "velocity": [
                -1.2802822589874268,
                7.9569268226623535,
                -0.005774545483291149
            ],
            "speed_kmh": 29.01337368320982,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.117468237876892,
                "transform": {
                    "location": {
                        "x": 975.3833618164062,
                        "y": 3584.68896484375,
                        "z": 370.4488220214844
                    },
                    "rotation": {
                        "roll": 0.0031837995629757643,
                        "pitch": 0.6494758129119873,
                        "yaw": -170.4159393310547
                    }
                },
                "velocity": {
                    "x": -1.1023187637329102,
                    "y": -0.18287776410579681,
                    "z": 0.013579081743955612
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0895519256591797,
                "transform": {
                    "location": {
                        "x": 929.4651489257812,
                        "y": 3614.802978515625,
                        "z": 370.89105224609375
                    },
                    "rotation": {
                        "roll": 0.0006658667698502541,
                        "pitch": 0.014637094922363758,
                        "yaw": -80.71189880371094
                    }
                },
                "velocity": {
                    "x": 0.3366331160068512,
                    "y": -2.0622568130493164,
                    "z": 0.0016082286601886153
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.699035882949829,
                "transform": {
                    "location": {
                        "x": 932.220458984375,
                        "y": 3618.11962890625,
                        "z": 370.87420654296875
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": 0.07548724859952927,
                        "yaw": -80.83192443847656
                    }
                },
                "velocity": {
                    "x": 0.2724430561065674,
                    "y": -1.6770498752593994,
                    "z": 0.0011471842881292105
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.3145751953125,
                        "y": 3512.053955078125,
                        "z": 370.781005859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011890018358826637,
                "transform": {
                    "location": {
                        "x": 962.3391723632812,
                        "y": 3582.54248046875,
                        "z": 370.5926208496094
                    },
                    "rotation": {
                        "roll": -0.0026855512987822294,
                        "pitch": 0.591808557510376,
                        "yaw": -171.1577606201172
                    }
                },
                "velocity": {
                    "x": 4.763483957503922e-05,
                    "y": 1.8341819668421522e-05,
                    "z": 0.0011879056692123413
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.2138671875,
                        "y": 3483.510498046875,
                        "z": 370.68017578125
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015479967696592212,
                "transform": {
                    "location": {
                        "x": 934.3385620117188,
                        "y": 3605.0302734375,
                        "z": 370.8871154785156
                    },
                    "rotation": {
                        "roll": 0.0005437087966129184,
                        "pitch": 0.03639807552099228,
                        "yaw": -80.7665786743164
                    }
                },
                "velocity": {
                    "x": -0.0003017765993718058,
                    "y": -0.00026505321147851646,
                    "z": 0.0014949821634218097
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000344361673342064,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.000854490848723799,
                        "pitch": 0.03929407522082329,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": -8.904449350666255e-05,
                    "y": -2.355366450501606e-05,
                    "z": 0.0003318150993436575
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004764456825796515,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0013035980518907309,
                        "pitch": 0.0023017735220491886,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -6.970064418965194e-07,
                    "y": 1.9955099617163796e-07,
                    "z": 0.0004764451296068728
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6294001397909597e-05,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 0.0004541200178209692,
                        "pitch": -0.009521283209323883,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 1.0125403605343308e-05,
                    "y": -2.028774360951502e-06,
                    "z": -1.2603760296769906e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.514024375472218e-05,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 1.7359927369398065e-05,
                    "y": 2.796277385641588e-06,
                    "z": 8.330470882356167e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.071745872497559,
                "transform": {
                    "location": {
                        "x": 936.3868408203125,
                        "y": 3529.705810546875,
                        "z": 370.8284606933594
                    },
                    "rotation": {
                        "roll": 0.0003473469114396721,
                        "pitch": 0.1458381861448288,
                        "yaw": 99.1587905883789
                    }
                },
                "velocity": {
                    "x": -1.2830696105957031,
                    "y": 7.96908712387085,
                    "z": 0.02155797928571701
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.9017944335938,
                        "y": 3497.877685546875,
                        "z": 370.7327575683594
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.810267142194789e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -1.0721420267145731e-06,
                    "y": 9.844777650869219e-07,
                    "z": 2.8064949219697155e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001121381064876914,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 370.8779296875
                    },
                    "rotation": {
                        "roll": -0.00012207299005240202,
                        "pitch": -0.04434158653020859,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 2.203583562732092e-06,
                    "y": 2.0945769847457996e-06,
                    "z": -0.00011209688818780705
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.476609230041504,
                "transform": {
                    "location": {
                        "x": 920.4400024414062,
                        "y": 3629.0986328125,
                        "z": 370.8717041015625
                    },
                    "rotation": {
                        "roll": 0.00017980691336560994,
                        "pitch": -0.026330377906560898,
                        "yaw": 99.60369110107422
                    }
                },
                "velocity": {
                    "x": -0.9045602083206177,
                    "y": 5.401389122009277,
                    "z": -0.0034241771791130304
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.4739379882812,
                        "y": 3512.591064453125,
                        "z": 370.8038330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.001911640167236,
                "transform": {
                    "location": {
                        "x": 937.3388671875,
                        "y": 3544.236572265625,
                        "z": 370.8880920410156
                    },
                    "rotation": {
                        "roll": 0.00036160650779493153,
                        "pitch": -0.03380943462252617,
                        "yaw": 99.14093017578125
                    }
                },
                "velocity": {
                    "x": -0.9536790251731873,
                    "y": 5.925652503967285,
                    "z": 0.009243087843060493
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.084929943084717,
                "transform": {
                    "location": {
                        "x": 935.1937255859375,
                        "y": 3557.564208984375,
                        "z": 370.8715515136719
                    },
                    "rotation": {
                        "roll": -0.00027465185848996043,
                        "pitch": 0.2920383810997009,
                        "yaw": 99.13324737548828
                    }
                },
                "velocity": {
                    "x": -0.4893149435520172,
                    "y": 3.0458755493164062,
                    "z": 0.0020996283274143934
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059269905090332,
                "transform": {
                    "location": {
                        "x": 924.0999755859375,
                        "y": 3606.04638671875,
                        "z": 370.887451171875
                    },
                    "rotation": {
                        "roll": 0.00018460022693034261,
                        "pitch": -0.03808513283729553,
                        "yaw": 99.13814544677734
                    }
                },
                "velocity": {
                    "x": -1.2802822589874268,
                    "y": 7.9569268226623535,
                    "z": -0.005774545483291149
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007848130189813673,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": -4.990957677364349e-06,
                    "y": 1.072319173545111e-05,
                    "z": -0.0007847239030525088
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.194308757781982,
                "transform": {
                    "location": {
                        "x": 940.4942626953125,
                        "y": 3524.706787109375,
                        "z": 370.8096008300781
                    },
                    "rotation": {
                        "roll": -0.00228882790543139,
                        "pitch": 0.3698752224445343,
                        "yaw": 99.10517883300781
                    }
                },
                "velocity": {
                    "x": -0.8274644017219543,
                    "y": 5.127945899963379,
                    "z": 0.017814569175243378
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.725200176239014,
                "transform": {
                    "location": {
                        "x": 932.6060180664062,
                        "y": 3573.661865234375,
                        "z": 370.8916320800781
                    },
                    "rotation": {
                        "roll": -0.33340445160865784,
                        "pitch": 0.5970063209533691,
                        "yaw": 99.1833267211914
                    }
                },
                "velocity": {
                    "x": -0.9042877554893494,
                    "y": 5.6532721519470215,
                    "z": 0.02632002718746662
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054638862609863,
                "transform": {
                    "location": {
                        "x": 957.8356323242188,
                        "y": 3585.04736328125,
                        "z": 370.6434020996094
                    },
                    "rotation": {
                        "roll": 0.002488934202119708,
                        "pitch": -0.5718370676040649,
                        "yaw": 9.343342781066895
                    }
                },
                "velocity": {
                    "x": 7.947944641113281,
                    "y": 1.3041893243789673,
                    "z": -0.0804891437292099
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16134510934352875,
        "expert_target_speed": 7.087779836512262,
        "target_point": [
            24.733636010581577,
            -0.5702541037551887
        ],
        "target_point_next": [
            24.733636010581577,
            -0.5702541037551887
        ]
    },
    "810": {
        "acceleration": [
            1.2015557289123535,
            -6.572160720825195,
            0.12341383844614029
        ],
        "angular_velocity": [
            -0.238369420170784,
            -0.1280517280101776,
            1.0265852212905884
        ],
        "forward_vector": [
            -0.1952858865261078,
            0.9804550409317017,
            -0.023901687934994698
        ],
        "right_vector": [
            -0.9807456731796265,
            -0.1952560991048813,
            0.0035963626578450203
        ],
        "location": [
            928.171142578125,
            3582.513427734375,
            370.9107360839844
        ],
        "rotation": [
            -0.20611572265625,
            -1.369596242904663,
            101.26468658447266
        ],
        "velocity": [
            -0.9251758456230164,
            4.547059059143066,
            -0.0016274547670036554
        ],
        "speed": 4.640225903192569,
        "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": 25.897199630737305,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                923.7801513671875,
                3608.03564453125,
                370.8860778808594
            ],
            "velocity": [
                -1.2794657945632935,
                7.95674991607666,
                -0.005681638605892658
            ],
            "speed_kmh": 29.01227787657995,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0380442142486572,
                "transform": {
                    "location": {
                        "x": 975.008544921875,
                        "y": 3584.626220703125,
                        "z": 370.4527587890625
                    },
                    "rotation": {
                        "roll": 0.0018126203212887049,
                        "pitch": 0.709820568561554,
                        "yaw": -170.5067901611328
                    }
                },
                "velocity": {
                    "x": -2.0112597942352295,
                    "y": -0.32845500111579895,
                    "z": 0.024001989513635635
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.877943515777588,
                "transform": {
                    "location": {
                        "x": 929.55029296875,
                        "y": 3614.28125,
                        "z": 370.89111328125
                    },
                    "rotation": {
                        "roll": 0.0006650281720794737,
                        "pitch": 0.04833041504025459,
                        "yaw": -80.71717834472656
                    }
                },
                "velocity": {
                    "x": 0.30307361483573914,
                    "y": -1.8533257246017456,
                    "z": 0.0013071155408397317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3036751747131348,
                "transform": {
                    "location": {
                        "x": 932.28271484375,
                        "y": 3617.71923828125,
                        "z": 370.8746643066406
                    },
                    "rotation": {
                        "roll": -0.00073242123471573,
                        "pitch": 0.04572128504514694,
                        "yaw": -80.56969451904297
                    }
                },
                "velocity": {
                    "x": 0.21283946931362152,
                    "y": -1.2861831188201904,
                    "z": 0.0011833953903988004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.992834568023682,
                "transform": {
                    "location": {
                        "x": 939.0072631835938,
                        "y": 3514.01025390625,
                        "z": 370.7840576171875
                    },
                    "rotation": {
                        "roll": -0.0920410007238388,
                        "pitch": 0.12025913596153259,
                        "yaw": 99.42818450927734
                    }
                },
                "velocity": {
                    "x": -1.3079307079315186,
                    "y": 7.885034561157227,
                    "z": 0.030892323702573776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011549830669537187,
                "transform": {
                    "location": {
                        "x": 962.3391723632812,
                        "y": 3582.54248046875,
                        "z": 370.5925598144531
                    },
                    "rotation": {
                        "roll": -0.004638672806322575,
                        "pitch": 0.5956743955612183,
                        "yaw": -171.15768432617188
                    }
                },
                "velocity": {
                    "x": 3.478661164990626e-05,
                    "y": 1.8139015082851984e-05,
                    "z": 0.0011543165892362595
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.0814819335938,
                        "y": 3484.3330078125,
                        "z": 370.6834411621094
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016743477899581194,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.8871765136719
                    },
                    "rotation": {
                        "roll": 0.00036558357533067465,
                        "pitch": 0.0306948684155941,
                        "yaw": -80.78101348876953
                    }
                },
                "velocity": {
                    "x": 9.335934737464413e-05,
                    "y": 3.88379203286604e-06,
                    "z": 0.0016717384569346905
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00022722120047546923,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.0011291475966572762,
                        "pitch": 0.03826271742582321,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": 9.524413144390564e-06,
                    "y": 2.248501459689578e-06,
                    "z": 0.00022701035777572542
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001147621893323958,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.001263579004444182,
                        "pitch": 0.0022744529414922,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -8.957811587606557e-06,
                    "y": -1.7310154589722515e-06,
                    "z": 0.0011475856881588697
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.434259946923703e-05,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 0.0004541200178209692,
                        "pitch": -0.009521283209323883,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 3.0145340588205727e-06,
                    "y": -1.5010800780146383e-06,
                    "z": 5.4238153097685426e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007651043706573546,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 2.340249739063438e-05,
                    "y": -2.6570819500193466e-06,
                    "z": 0.0007647417369298637
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072114944458008,
                "transform": {
                    "location": {
                        "x": 936.0657348632812,
                        "y": 3531.697998046875,
                        "z": 370.83331298828125
                    },
                    "rotation": {
                        "roll": 0.0005496983067132533,
                        "pitch": 0.13431566953659058,
                        "yaw": 99.13540649414062
                    }
                },
                "velocity": {
                    "x": -1.2833901643753052,
                    "y": 7.969419479370117,
                    "z": 0.01743813417851925
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.703125,
                        "y": 3499.111572265625,
                        "z": 370.73687744140625
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00034780133864842355,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -7.413179901050171e-06,
                    "y": -6.931973643986566e-07,
                    "z": 0.000347721652360633
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.07529392838478088,
                "transform": {
                    "location": {
                        "x": 923.0260620117188,
                        "y": 3633.80615234375,
                        "z": 370.8777770996094
                    },
                    "rotation": {
                        "roll": -0.0003967279626522213,
                        "pitch": -0.026610415428876877,
                        "yaw": 99.14490509033203
                    }
                },
                "velocity": {
                    "x": -0.012304173782467842,
                    "y": 0.07428112626075745,
                    "z": -0.000312213902361691
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.119686126708984,
                "transform": {
                    "location": {
                        "x": 920.1947631835938,
                        "y": 3630.559814453125,
                        "z": 370.87066650390625
                    },
                    "rotation": {
                        "roll": -0.00033569481456652284,
                        "pitch": -0.022280076518654823,
                        "yaw": 99.50675964355469
                    }
                },
                "velocity": {
                    "x": -1.0084551572799683,
                    "y": 6.036020755767822,
                    "z": -0.005273084621876478
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.3876342773438,
                        "y": 3513.4189453125,
                        "z": 370.7853088378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9228108525276184,
                "transform": {
                    "location": {
                        "x": 937.1973876953125,
                        "y": 3545.114990234375,
                        "z": 370.8919372558594
                    },
                    "rotation": {
                        "roll": -0.00015258828352671117,
                        "pitch": -0.35570940375328064,
                        "yaw": 99.12299346923828
                    }
                },
                "velocity": {
                    "x": -0.14575988054275513,
                    "y": 0.9112241864204407,
                    "z": 0.002084007253870368
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.604200839996338,
                "transform": {
                    "location": {
                        "x": 935.0389404296875,
                        "y": 3558.527099609375,
                        "z": 370.8725280761719
                    },
                    "rotation": {
                        "roll": -0.0010375957936048508,
                        "pitch": 0.36219125986099243,
                        "yaw": 99.13300323486328
                    }
                },
                "velocity": {
                    "x": -0.7317050099372864,
                    "y": 4.545685291290283,
                    "z": 0.004289226606488228
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.058965682983398,
                "transform": {
                    "location": {
                        "x": 923.7801513671875,
                        "y": 3608.03564453125,
                        "z": 370.8860778808594
                    },
                    "rotation": {
                        "roll": 7.060809730319306e-05,
                        "pitch": -0.03820807486772537,
                        "yaw": 99.13794708251953
                    }
                },
                "velocity": {
                    "x": -1.2794657945632935,
                    "y": 7.95674991607666,
                    "z": -0.005681638605892658
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019315317331347615,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": 1.2065283954143524e-05,
                    "y": -1.6136793419718742e-05,
                    "z": -0.00019209939637221396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.528958320617676,
                "transform": {
                    "location": {
                        "x": 940.2776489257812,
                        "y": 3526.047119140625,
                        "z": 370.8128967285156
                    },
                    "rotation": {
                        "roll": -0.002716051647439599,
                        "pitch": 0.24301128089427948,
                        "yaw": 99.18888092041016
                    }
                },
                "velocity": {
                    "x": -0.8838485479354858,
                    "y": 5.45783805847168,
                    "z": 0.013847770169377327
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.384183883666992,
                "transform": {
                    "location": {
                        "x": 932.3396606445312,
                        "y": 3575.31396484375,
                        "z": 370.89837646484375
                    },
                    "rotation": {
                        "roll": -0.46832263469696045,
                        "pitch": 0.6942340731620789,
                        "yaw": 99.1966781616211
                    }
                },
                "velocity": {
                    "x": -1.164980173110962,
                    "y": 7.291670322418213,
                    "z": 0.02318749390542507
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05567455291748,
                "transform": {
                    "location": {
                        "x": 959.8226928710938,
                        "y": 3585.373046875,
                        "z": 370.6234436035156
                    },
                    "rotation": {
                        "roll": 0.0014896957436576486,
                        "pitch": -0.5719873309135437,
                        "yaw": 9.280414581298828
                    }
                },
                "velocity": {
                    "x": 7.949708461761475,
                    "y": 1.2998697757720947,
                    "z": -0.07982312142848969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08393394947052002,
        "expert_target_speed": 5.6918535283094025,
        "target_point": [
            23.404695958792193,
            -0.6876420285995417
        ],
        "target_point_next": [
            23.404695958792193,
            -0.6876420285995417
        ]
    },
    "815": {
        "acceleration": [
            0.7194650173187256,
            -3.2921981811523438,
            0.07175162434577942
        ],
        "angular_velocity": [
            2.6458592414855957,
            0.1354772299528122,
            0.6007760763168335
        ],
        "forward_vector": [
            -0.19874107837677002,
            0.9798992276191711,
            -0.017302721738815308
        ],
        "right_vector": [
            -0.9800492525100708,
            -0.19875125586986542,
            0.0011465864954516292
        ],
        "location": [
            927.9690551757812,
            3583.501220703125,
            370.9045715332031
        ],
        "rotation": [
            -0.06570442020893097,
            -0.9914224147796631,
            101.465087890625
        ],
        "velocity": [
            -0.7279602885246277,
            3.4812588691711426,
            -0.035824935883283615
        ],
        "speed": 3.556555847424809,
        "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": 26.904205322265625,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                923.4601440429688,
                3610.02490234375,
                370.88470458984375
            ],
            "velocity": [
                -1.2800190448760986,
                7.956844329833984,
                -0.00583103159442544
            ],
            "speed_kmh": 29.01293011076622,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4062154293060303,
                "transform": {
                    "location": {
                        "x": 974.5740356445312,
                        "y": 3584.550537109375,
                        "z": 370.4577941894531
                    },
                    "rotation": {
                        "roll": -0.0008544880547560751,
                        "pitch": 0.7202092409133911,
                        "yaw": -170.86277770996094
                    }
                },
                "velocity": {
                    "x": -2.3744101524353027,
                    "y": -0.388913631439209,
                    "z": 0.028199452906847
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.087860107421875,
                "transform": {
                    "location": {
                        "x": 929.6256713867188,
                        "y": 3613.8193359375,
                        "z": 370.8916015625
                    },
                    "rotation": {
                        "roll": 0.00010369015217293054,
                        "pitch": 0.028966831043362617,
                        "yaw": -80.71836853027344
                    }
                },
                "velocity": {
                    "x": 0.3354932963848114,
                    "y": -2.0607285499572754,
                    "z": 0.001372013008221984
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2116684913635254,
                "transform": {
                    "location": {
                        "x": 932.3401489257812,
                        "y": 3617.3466796875,
                        "z": 370.87506103515625
                    },
                    "rotation": {
                        "roll": 0.0004787369107361883,
                        "pitch": 0.016645170748233795,
                        "yaw": -80.2300033569336
                    }
                },
                "velocity": {
                    "x": 0.18227870762348175,
                    "y": -1.1978724002838135,
                    "z": -0.0040877340361475945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.752084732055664,
                "transform": {
                    "location": {
                        "x": 938.6820068359375,
                        "y": 3515.9501953125,
                        "z": 370.79193115234375
                    },
                    "rotation": {
                        "roll": -0.037841785699129105,
                        "pitch": 0.15086521208286285,
                        "yaw": 99.68555450439453
                    }
                },
                "velocity": {
                    "x": -1.306439757347107,
                    "y": 7.641152858734131,
                    "z": 0.02848411537706852
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010775376576930285,
                "transform": {
                    "location": {
                        "x": 962.3391723632812,
                        "y": 3582.54248046875,
                        "z": 370.5925598144531
                    },
                    "rotation": {
                        "roll": -0.0035705582704395056,
                        "pitch": 0.5966716408729553,
                        "yaw": -171.15765380859375
                    }
                },
                "velocity": {
                    "x": 3.4285709261894226e-05,
                    "y": -7.409118097712053e-06,
                    "z": 0.0010769665241241455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8828735351562,
                        "y": 3485.56689453125,
                        "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000977538526058197,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.8871765136719
                    },
                    "rotation": {
                        "roll": 0.00035830316483043134,
                        "pitch": 0.03568773716688156,
                        "yaw": -80.78102111816406
                    }
                },
                "velocity": {
                    "x": 4.43602075392846e-05,
                    "y": 1.1935466318391263e-05,
                    "z": 0.0009764585411176085
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.806793291820213e-06,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.0011291475966572762,
                        "pitch": 0.03826271742582321,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": 2.8226838821865385e-06,
                    "y": 7.120491773093818e-06,
                    "z": 1.5089988210092997e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012089589145034552,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.001397732412442565,
                        "pitch": 0.0022334717214107513,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": 1.5826029994059354e-05,
                    "y": 1.4004971262693289e-06,
                    "z": 0.0012088544899597764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003279520315118134,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 1.4978557373979129e-05,
                        "pitch": -0.009248076006770134,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 1.752486605255399e-05,
                    "y": 2.314605353603838e-06,
                    "z": 0.00032747528166510165
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00036612883559428155,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 2.0739957108162344e-05,
                    "y": -7.649315193702932e-06,
                    "z": 0.0003654609026852995
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07215404510498,
                "transform": {
                    "location": {
                        "x": 935.7452392578125,
                        "y": 3533.68994140625,
                        "z": 370.837646484375
                    },
                    "rotation": {
                        "roll": 0.0008316971943713725,
                        "pitch": 0.11589464545249939,
                        "yaw": 99.16148376464844
                    }
                },
                "velocity": {
                    "x": -1.2832789421081543,
                    "y": 7.96947717666626,
                    "z": 0.017485961318016052
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.5706787109375,
                        "y": 3499.93408203125,
                        "z": 370.73944091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.57289170299191e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -2.2661373805021867e-05,
                    "y": 4.7983412514440715e-06,
                    "z": 3.94280614273157e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0022984412498772144,
                "transform": {
                    "location": {
                        "x": 923.0146484375,
                        "y": 3633.873291015625,
                        "z": 370.8778381347656
                    },
                    "rotation": {
                        "roll": 0.0002953473594971001,
                        "pitch": -0.03405532240867615,
                        "yaw": 99.14273071289062
                    }
                },
                "velocity": {
                    "x": -0.0006008627824485302,
                    "y": 0.0019792327657341957,
                    "z": -0.0010022143833339214
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.363321781158447,
                "transform": {
                    "location": {
                        "x": 919.9144287109375,
                        "y": 3632.237060546875,
                        "z": 370.86932373046875
                    },
                    "rotation": {
                        "roll": -0.0005187992355786264,
                        "pitch": -0.014923962764441967,
                        "yaw": 99.47991943359375
                    }
                },
                "velocity": {
                    "x": -1.2125842571258545,
                    "y": 7.262789726257324,
                    "z": -0.005552330054342747
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.191162109375,
                        "y": 3514.653076171875,
                        "z": 370.78765869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9153414964675903,
                "transform": {
                    "location": {
                        "x": 937.1824951171875,
                        "y": 3545.20751953125,
                        "z": 370.8895263671875
                    },
                    "rotation": {
                        "roll": -0.0006713864277116954,
                        "pitch": -0.045229509472846985,
                        "yaw": 99.1201400756836
                    }
                },
                "velocity": {
                    "x": -0.14505787193775177,
                    "y": 0.9037718176841736,
                    "z": 0.0021697520278394222
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.386985778808594,
                "transform": {
                    "location": {
                        "x": 934.8326416015625,
                        "y": 3559.809814453125,
                        "z": 370.8741760253906
                    },
                    "rotation": {
                        "roll": 0.00016575375047978014,
                        "pitch": 0.2532019317150116,
                        "yaw": 99.13360595703125
                    }
                },
                "velocity": {
                    "x": -0.8551042079925537,
                    "y": 5.31868314743042,
                    "z": 0.004754619672894478
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059146881103516,
                "transform": {
                    "location": {
                        "x": 923.4601440429688,
                        "y": 3610.02490234375,
                        "z": 370.88470458984375
                    },
                    "rotation": {
                        "roll": -0.00018310779705643654,
                        "pitch": -0.03869301825761795,
                        "yaw": 99.13496398925781
                    }
                },
                "velocity": {
                    "x": -1.2800190448760986,
                    "y": 7.956844329833984,
                    "z": -0.00583103159442544
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005070132319815457,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": 6.27946110398625e-06,
                    "y": 2.4067330741672777e-06,
                    "z": -0.000506968644913286
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.406302452087402,
                "transform": {
                    "location": {
                        "x": 940.0254516601562,
                        "y": 3527.603759765625,
                        "z": 370.8170166015625
                    },
                    "rotation": {
                        "roll": -0.0010986608685925603,
                        "pitch": 0.406737744808197,
                        "yaw": 99.20753479003906
                    }
                },
                "velocity": {
                    "x": -1.1863610744476318,
                    "y": 7.310645580291748,
                    "z": 0.018092678859829903
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.238177299499512,
                "transform": {
                    "location": {
                        "x": 932.028564453125,
                        "y": 3577.252685546875,
                        "z": 370.9022216796875
                    },
                    "rotation": {
                        "roll": -0.5960692763328552,
                        "pitch": 0.47862547636032104,
                        "yaw": 99.14936065673828
                    }
                },
                "velocity": {
                    "x": -1.3036277294158936,
                    "y": 8.134378433227539,
                    "z": 0.002258958760648966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055789947509766,
                "transform": {
                    "location": {
                        "x": 961.81005859375,
                        "y": 3585.697998046875,
                        "z": 370.6029357910156
                    },
                    "rotation": {
                        "roll": 0.0011533941142261028,
                        "pitch": -0.5972590446472168,
                        "yaw": 9.296374320983887
                    }
                },
                "velocity": {
                    "x": 7.949973106384277,
                    "y": 1.298755168914795,
                    "z": -0.08314205706119537
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03740239143371582,
        "expert_target_speed": 4.672646344910268,
        "target_point": [
            22.393896451046455,
            -0.7711977320830554
        ],
        "target_point_next": [
            22.393896451046455,
            -0.7711977320830554
        ]
    },
    "820": {
        "acceleration": [
            0.45287370681762695,
            -2.2057723999023438,
            -0.004131309688091278
        ],
        "angular_velocity": [
            1.9479440450668335,
            0.35290536284446716,
            0.37026289105415344
        ],
        "forward_vector": [
            -0.20068931579589844,
            0.9796242713928223,
            -0.007748049218207598
        ],
        "right_vector": [
            -0.9796544313430786,
            -0.20069117844104767,
            0.0005453988560475409
        ],
        "location": [
            927.8078002929688,
            3584.278564453125,
            370.89471435546875
        ],
        "rotation": [
            -0.031249988824129105,
            -0.44393494725227356,
            101.57762145996094
        ],
        "velocity": [
            -0.5790385603904724,
            2.7775280475616455,
            -0.028475608676671982
        ],
        "speed": 2.8372429768017184,
        "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": 28.1258487701416,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                923.1401977539062,
                3612.014404296875,
                370.88330078125
            ],
            "velocity": [
                -1.2798783779144287,
                7.957071304321289,
                -0.005880260374397039
            ],
            "speed_kmh": 29.01365655141931,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 371.0724182128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2939560413360596,
                "transform": {
                    "location": {
                        "x": 974.30224609375,
                        "y": 3584.50341796875,
                        "z": 370.4615478515625
                    },
                    "rotation": {
                        "roll": -0.004913330543786287,
                        "pitch": 0.6374068856239319,
                        "yaw": -171.12648010253906
                    }
                },
                "velocity": {
                    "x": -1.2765518426895142,
                    "y": -0.2106148600578308,
                    "z": 0.019466858357191086
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8695037364959717,
                "transform": {
                    "location": {
                        "x": 929.7103881835938,
                        "y": 3613.299072265625,
                        "z": 370.8917541503906
                    },
                    "rotation": {
                        "roll": 4.372089824755676e-05,
                        "pitch": 0.0516362264752388,
                        "yaw": -80.72831726074219
                    }
                },
                "velocity": {
                    "x": 0.2987986207008362,
                    "y": -1.8454700708389282,
                    "z": 0.0019800567533820868
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5187277793884277,
                "transform": {
                    "location": {
                        "x": 932.4080200195312,
                        "y": 3616.920654296875,
                        "z": 370.87542724609375
                    },
                    "rotation": {
                        "roll": -0.000915528042241931,
                        "pitch": 0.019691433757543564,
                        "yaw": -80.12761688232422
                    }
                },
                "velocity": {
                    "x": 0.2443070411682129,
                    "y": -1.4989478588104248,
                    "z": 0.0018514632247388363
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.962367534637451,
                "transform": {
                    "location": {
                        "x": 938.3501586914062,
                        "y": 3517.887451171875,
                        "z": 370.7976989746094
                    },
                    "rotation": {
                        "roll": -0.00476074730977416,
                        "pitch": 0.16219648718833923,
                        "yaw": 99.7870864868164
                    }
                },
                "velocity": {
                    "x": -1.3540122509002686,
                    "y": 7.84636926651001,
                    "z": 0.020982369780540466
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010479652555659413,
                "transform": {
                    "location": {
                        "x": 962.3391723632812,
                        "y": 3582.54248046875,
                        "z": 370.5925598144531
                    },
                    "rotation": {
                        "roll": -0.004608160350471735,
                        "pitch": 0.597887396812439,
                        "yaw": -171.15765380859375
                    }
                },
                "velocity": {
                    "x": 3.234475661884062e-05,
                    "y": 5.760863132309169e-06,
                    "z": 0.0010474501177668571
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.7505493164062,
                        "y": 3486.389404296875,
                        "z": 370.6913146972656
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007059607305563986,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.8871765136719
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": 0.037463586777448654,
                        "yaw": -80.78102111816406
                    }
                },
                "velocity": {
                    "x": 2.6655088731786236e-05,
                    "y": 4.283050202502636e-06,
                    "z": -0.0007054443703964353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00038999851676635444,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.00039672967977821827,
                        "pitch": 0.03880913183093071,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": -1.7016496940414072e-06,
                    "y": -8.656829209030548e-07,
                    "z": 0.00038999386015348136
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004970648442395031,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0013155675260350108,
                        "pitch": 0.0021993208210915327,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -5.673480245604878e-07,
                    "y": -5.812555627926486e-07,
                    "z": 0.0004970642039552331
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.196879892035213e-07,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 1.4978557373979129e-05,
                        "pitch": -0.009248076006770134,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 1.3051524661022995e-07,
                    "y": -7.052160526654916e-07,
                    "z": 5.989080165136329e-08
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009445142932236195,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 2.2522135623148642e-05,
                    "y": 1.0500382813916076e-05,
                    "z": 0.0009441873407922685
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072752952575684,
                "transform": {
                    "location": {
                        "x": 935.4242553710938,
                        "y": 3535.68212890625,
                        "z": 370.84173583984375
                    },
                    "rotation": {
                        "roll": 0.00037368014454841614,
                        "pitch": 0.11668011546134949,
                        "yaw": 99.13134765625
                    }
                },
                "velocity": {
                    "x": -1.2829796075820923,
                    "y": 7.970132350921631,
                    "z": 0.017327843233942986
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.3721923828125,
                        "y": 3501.16796875,
                        "z": 370.74334716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003375760279595852,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -1.6299035223710234e-06,
                    "y": -5.519119895325275e-06,
                    "z": 0.0003375269880052656
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0019078508485108614,
                "transform": {
                    "location": {
                        "x": 923.0147705078125,
                        "y": 3633.873046875,
                        "z": 370.87835693359375
                    },
                    "rotation": {
                        "roll": 0.0017088436288759112,
                        "pitch": -0.09633981436491013,
                        "yaw": 99.1427001953125
                    }
                },
                "velocity": {
                    "x": 0.00014307319361250848,
                    "y": -0.0003467634378466755,
                    "z": -0.001870609587058425
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9394683837890625,
                "transform": {
                    "location": {
                        "x": 919.5969848632812,
                        "y": 3634.150146484375,
                        "z": 370.867919921875
                    },
                    "rotation": {
                        "roll": 0.0004714248061645776,
                        "pitch": -0.029670340940356255,
                        "yaw": 99.39973449707031
                    }
                },
                "velocity": {
                    "x": -1.2885061502456665,
                    "y": 7.834212303161621,
                    "z": -0.005538206081837416
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.0609130859375,
                        "y": 3515.475830078125,
                        "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": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.674940586090088,
                "transform": {
                    "location": {
                        "x": 937.1293334960938,
                        "y": 3545.5390625,
                        "z": 370.8885498046875
                    },
                    "rotation": {
                        "roll": 0.00021341729734558612,
                        "pitch": 0.13339358568191528,
                        "yaw": 99.1407470703125
                    }
                },
                "velocity": {
                    "x": -0.2661738991737366,
                    "y": 1.6536545753479004,
                    "z": 0.0020818901248276234
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.345150470733643,
                "transform": {
                    "location": {
                        "x": 934.6198120117188,
                        "y": 3561.134033203125,
                        "z": 370.8753967285156
                    },
                    "rotation": {
                        "roll": 5.345095996744931e-05,
                        "pitch": 0.08806845545768738,
                        "yaw": 99.1335678100586
                    }
                },
                "velocity": {
                    "x": -0.848463773727417,
                    "y": 5.277377128601074,
                    "z": 0.005844049155712128
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059349060058594,
                "transform": {
                    "location": {
                        "x": 923.1401977539062,
                        "y": 3612.014404296875,
                        "z": 370.88330078125
                    },
                    "rotation": {
                        "roll": -0.0008239734452217817,
                        "pitch": -0.03896622732281685,
                        "yaw": 99.14079284667969
                    }
                },
                "velocity": {
                    "x": -1.2798783779144287,
                    "y": 7.957071304321289,
                    "z": -0.005880260374397039
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00043866236228495836,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": 1.0233856301056221e-05,
                    "y": 1.7675532944849692e-05,
                    "z": -0.00043818660196848214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.952133655548096,
                "transform": {
                    "location": {
                        "x": 939.710205078125,
                        "y": 3529.546142578125,
                        "z": 370.8216857910156
                    },
                    "rotation": {
                        "roll": -0.0007629625615663826,
                        "pitch": 0.2807207703590393,
                        "yaw": 99.21797180175781
                    }
                },
                "velocity": {
                    "x": -1.2723376750946045,
                    "y": 7.849660873413086,
                    "z": 0.020198000594973564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.049044609069824,
                "transform": {
                    "location": {
                        "x": 931.7035522460938,
                        "y": 3579.280517578125,
                        "z": 370.9039001464844
                    },
                    "rotation": {
                        "roll": -0.589752197265625,
                        "pitch": 0.15996302664279938,
                        "yaw": 99.1773681640625
                    }
                },
                "velocity": {
                    "x": -1.274465799331665,
                    "y": 7.947505950927734,
                    "z": 0.0025641536340117455
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055654525756836,
                "transform": {
                    "location": {
                        "x": 963.7975463867188,
                        "y": 3586.022216796875,
                        "z": 370.5818786621094
                    },
                    "rotation": {
                        "roll": -0.0014648442156612873,
                        "pitch": -0.607231080532074,
                        "yaw": 9.260775566101074
                    }
                },
                "velocity": {
                    "x": 7.949860095977783,
                    "y": 1.2985352277755737,
                    "z": -0.08425923436880112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0027983111795037985,
        "expert_target_speed": 3.980002591980952,
        "target_point": [
            21.598447767583007,
            -0.8171449085451998
        ],
        "target_point_next": [
            21.598447767583007,
            -0.8171449085451998
        ]
    },
    "825": {
        "acceleration": [
            0.12477636337280273,
            -0.6034469604492188,
            0.00992736779153347
        ],
        "angular_velocity": [
            0.5686595439910889,
            0.10283341258764267,
            0.3427918255329132
        ],
        "forward_vector": [
            -0.20222672820091248,
            0.9793376326560974,
            -0.0014518493553623557
        ],
        "right_vector": [
            -0.9793387055397034,
            -0.20222683250904083,
            7.989484583958983e-05
        ],
        "location": [
            927.6621704101562,
            3584.97607421875,
            370.8913879394531
        ],
        "rotation": [
            -0.004577642306685448,
            -0.0831848680973053,
            101.6672134399414
        ],
        "velocity": [
            -0.5871158838272095,
            2.7968571186065674,
            0.0037225340493023396
        ],
        "speed": 2.8578164396865025,
        "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": 29.428422927856445,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                922.8201293945312,
                3614.00341796875,
                370.8819885253906
            ],
            "velocity": [
                -1.2804962396621704,
                7.957151889801025,
                -0.005469779949635267
            ],
            "speed_kmh": 29.01429525068579,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1133042573928833,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 370.8752746582031
                    },
                    "rotation": {
                        "roll": -0.0010681143030524254,
                        "pitch": 0.03825588896870613,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": -4.3715324864024296e-05,
                    "y": 7.590786117361858e-05,
                    "z": 0.11330422759056091
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.181736707687378,
                "transform": {
                    "location": {
                        "x": 973.9144897460938,
                        "y": 3584.440185546875,
                        "z": 370.4656677246094
                    },
                    "rotation": {
                        "roll": -0.005401604808866978,
                        "pitch": 0.7200794816017151,
                        "yaw": -171.04127502441406
                    }
                },
                "velocity": {
                    "x": -2.1524922847747803,
                    "y": -0.3550530672073364,
                    "z": 0.02626243606209755
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0773274898529053,
                "transform": {
                    "location": {
                        "x": 929.784912109375,
                        "y": 3612.83935546875,
                        "z": 370.8923034667969
                    },
                    "rotation": {
                        "roll": 0.00041092027095146477,
                        "pitch": 0.029424453154206276,
                        "yaw": -80.74368286132812
                    }
                },
                "velocity": {
                    "x": 0.33205902576446533,
                    "y": -2.050614833831787,
                    "z": 0.002178316004574299
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8718855381011963,
                "transform": {
                    "location": {
                        "x": 932.485107421875,
                        "y": 3616.47705078125,
                        "z": 370.8756103515625
                    },
                    "rotation": {
                        "roll": -0.0018310529412701726,
                        "pitch": 0.03281905874609947,
                        "yaw": -80.55406188964844
                    }
                },
                "velocity": {
                    "x": 0.3094499707221985,
                    "y": -1.8461294174194336,
                    "z": 0.0015421867137774825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.721001625061035,
                "transform": {
                    "location": {
                        "x": 938.0206909179688,
                        "y": 3519.818603515625,
                        "z": 370.8027648925781
                    },
                    "rotation": {
                        "roll": 0.022075170651078224,
                        "pitch": 0.15393880009651184,
                        "yaw": 99.67896270751953
                    }
                },
                "velocity": {
                    "x": -1.2816872596740723,
                    "y": 7.61384916305542,
                    "z": 0.020994262769818306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016444516368210316,
                "transform": {
                    "location": {
                        "x": 962.3391723632812,
                        "y": 3582.54248046875,
                        "z": 370.5925598144531
                    },
                    "rotation": {
                        "roll": -0.00396728515625,
                        "pitch": 0.5977712869644165,
                        "yaw": -171.15762329101562
                    }
                },
                "velocity": {
                    "x": 4.2757688788697124e-05,
                    "y": 8.398462341574486e-06,
                    "z": 0.00164387421682477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.552001953125,
                        "y": 3487.623291015625,
                        "z": 370.6961364746094
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001135659054853022,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0012227891711518168,
                        "pitch": 0.03819441422820091,
                        "yaw": -80.78102111816406
                    }
                },
                "velocity": {
                    "x": 0.00010465130617376417,
                    "y": 2.248988857900258e-05,
                    "z": -0.0011306032538414001
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00037309102481231093,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.00039672967977821827,
                        "pitch": 0.03880913183093071,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": -9.862508704827633e-06,
                    "y": 5.607470029644901e-06,
                    "z": 0.0003729184973053634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011273941490799189,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0011519026011228561,
                        "pitch": 0.002390566049143672,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -3.623596001034457e-07,
                    "y": 7.373216703854268e-07,
                    "z": 0.0011273937998339534
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.114228846039623e-05,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 1.4978557373979129e-05,
                        "pitch": -0.009248076006770134,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": -2.335862063773675e-06,
                    "y": -1.7945188801604672e-07,
                    "z": 2.1012088836869225e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008192802779376507,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 2.3385062377201393e-05,
                    "y": 9.3299058789853e-06,
                    "z": 0.000818893313407898
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.071815490722656,
                "transform": {
                    "location": {
                        "x": 935.1036987304688,
                        "y": 3537.67431640625,
                        "z": 370.8458251953125
                    },
                    "rotation": {
                        "roll": -3.0515800972352736e-05,
                        "pitch": 0.11939852684736252,
                        "yaw": 99.15748596191406
                    }
                },
                "velocity": {
                    "x": -1.2828880548477173,
                    "y": 7.969196796417236,
                    "z": 0.017540359869599342
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.23974609375,
                        "y": 3501.990478515625,
                        "z": 370.7460021972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00022804795298725367,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 9.08282891032286e-06,
                    "y": 3.7241679819999263e-06,
                    "z": 0.0002278365718666464
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00037778611294925213,
                "transform": {
                    "location": {
                        "x": 923.0146484375,
                        "y": 3633.873046875,
                        "z": 370.8780517578125
                    },
                    "rotation": {
                        "roll": 6.195531750563532e-05,
                        "pitch": -0.06222302094101906,
                        "yaw": 99.14271545410156
                    }
                },
                "velocity": {
                    "x": 0.00013802993635181338,
                    "y": -0.00021642414503730834,
                    "z": -0.0002771834551822394
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.7237043380737305,
                "transform": {
                    "location": {
                        "x": 919.2977905273438,
                        "y": 3635.971435546875,
                        "z": 370.86676025390625
                    },
                    "rotation": {
                        "roll": 0.0006548415403813124,
                        "pitch": -0.07049437612295151,
                        "yaw": 99.31138610839844
                    }
                },
                "velocity": {
                    "x": -1.084788203239441,
                    "y": 6.635616302490234,
                    "z": -0.005994815845042467
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.10255692154169083,
                "transform": {
                    "location": {
                        "x": 941.9307861328125,
                        "y": 3516.299072265625,
                        "z": 370.802734375
                    },
                    "rotation": {
                        "roll": -0.001281752367503941,
                        "pitch": 0.1572241187095642,
                        "yaw": 99.14253234863281
                    }
                },
                "velocity": {
                    "x": 3.3761345548555255e-05,
                    "y": -0.00027470357599668205,
                    "z": 0.10255654901266098
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.807825803756714,
                "transform": {
                    "location": {
                        "x": 937.040283203125,
                        "y": 3546.092529296875,
                        "z": 370.8888854980469
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.19391588866710663,
                        "yaw": 99.14474487304688
                    }
                },
                "velocity": {
                    "x": -0.44616812467575073,
                    "y": 2.772148370742798,
                    "z": 0.003542461199685931
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.056636333465576,
                "transform": {
                    "location": {
                        "x": 934.4132080078125,
                        "y": 3562.41845703125,
                        "z": 370.87646484375
                    },
                    "rotation": {
                        "roll": 0.00022819353034719825,
                        "pitch": 0.01769018918275833,
                        "yaw": 99.13777923583984
                    }
                },
                "velocity": {
                    "x": -0.8031857013702393,
                    "y": 4.992437839508057,
                    "z": 0.005267057102173567
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059526443481445,
                "transform": {
                    "location": {
                        "x": 922.8201293945312,
                        "y": 3614.00341796875,
                        "z": 370.8819885253906
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.03829686716198921,
                        "yaw": 99.1385726928711
                    }
                },
                "velocity": {
                    "x": -1.2804962396621704,
                    "y": 7.957151889801025,
                    "z": -0.005469779949635267
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020542547281365842,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": 1.636106571822893e-05,
                    "y": -7.70545557315927e-06,
                    "z": 0.0002046278677880764
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.886373043060303,
                "transform": {
                    "location": {
                        "x": 939.4132690429688,
                        "y": 3531.3798828125,
                        "z": 370.825927734375
                    },
                    "rotation": {
                        "roll": 0.000906732864677906,
                        "pitch": 0.045598339289426804,
                        "yaw": 99.19254302978516
                    }
                },
                "velocity": {
                    "x": -1.0997254848480225,
                    "y": 6.797974109649658,
                    "z": 0.01696617156267166
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.888855934143066,
                "transform": {
                    "location": {
                        "x": 931.3912353515625,
                        "y": 3581.229248046875,
                        "z": 370.90478515625
                    },
                    "rotation": {
                        "roll": -0.5399169921875,
                        "pitch": 0.019998792558908463,
                        "yaw": 99.15838623046875
                    }
                },
                "velocity": {
                    "x": -1.2508485317230225,
                    "y": 7.789052486419678,
                    "z": -0.009471693076193333
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055301666259766,
                "transform": {
                    "location": {
                        "x": 965.7847290039062,
                        "y": 3586.346435546875,
                        "z": 370.5606994628906
                    },
                    "rotation": {
                        "roll": -6.103821942815557e-05,
                        "pitch": -0.6060085296630859,
                        "yaw": 9.29207992553711
                    }
                },
                "velocity": {
                    "x": 7.949586391448975,
                    "y": 1.2980009317398071,
                    "z": -0.08453134447336197
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03325076028704643,
        "expert_target_speed": 4.004020001722799,
        "target_point": [
            20.88459493493282,
            -0.8524852037468156
        ],
        "target_point_next": [
            20.88459493493282,
            -0.8524852037468156
        ]
    },
    "830": {
        "acceleration": [
            -0.20464539527893066,
            0.9155559539794922,
            0.003831665962934494
        ],
        "angular_velocity": [
            0.5138139128684998,
            0.1597680151462555,
            0.336613267660141
        ],
        "forward_vector": [
            -0.20363681018352509,
            0.9790465235710144,
            9.500979649601504e-05
        ],
        "right_vector": [
            -0.9790465235710144,
            -0.20363681018352509,
            6.231795850908384e-05
        ],
        "location": [
            927.5180053710938,
            3585.662841796875,
            370.89208984375
        ],
        "rotation": [
            -0.0035705561749637127,
            0.005443660542368889,
            101.74971008300781
        ],
        "velocity": [
            -0.5963194370269775,
            2.824266195297241,
            0.005707635544240475
        ],
        "speed": 2.8865336327288698,
        "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": 30.74213218688965,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                922.5000610351562,
                3615.99267578125,
                370.880615234375
            ],
            "velocity": [
                -1.28123140335083,
                7.956497669219971,
                -0.005598335061222315
            ],
            "speed_kmh": 29.012390934241434,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5743703842163086,
                "transform": {
                    "location": {
                        "x": 927.1680908203125,
                        "y": 3628.52685546875,
                        "z": 370.9026184082031
                    },
                    "rotation": {
                        "roll": -0.002777098212391138,
                        "pitch": 0.07942143827676773,
                        "yaw": -80.84303283691406
                    }
                },
                "velocity": {
                    "x": 0.1011638417840004,
                    "y": -0.5617955923080444,
                    "z": 0.06366264075040817
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.216214179992676,
                "transform": {
                    "location": {
                        "x": 973.5343017578125,
                        "y": 3584.379638671875,
                        "z": 370.47021484375
                    },
                    "rotation": {
                        "roll": -0.001586912665516138,
                        "pitch": 0.7078192830085754,
                        "yaw": -170.83782958984375
                    }
                },
                "velocity": {
                    "x": -2.18649959564209,
                    "y": -0.3607088625431061,
                    "z": 0.026713132858276367
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.733271598815918,
                "transform": {
                    "location": {
                        "x": 929.86865234375,
                        "y": 3612.32275390625,
                        "z": 370.8923645019531
                    },
                    "rotation": {
                        "roll": 0.0003720670356415212,
                        "pitch": 0.055495284497737885,
                        "yaw": -80.75740814208984
                    }
                },
                "velocity": {
                    "x": 0.27693313360214233,
                    "y": -1.7110041379928589,
                    "z": 0.001812477014027536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.838470995426178,
                "transform": {
                    "location": {
                        "x": 932.5382080078125,
                        "y": 3616.139404296875,
                        "z": 370.87615966796875
                    },
                    "rotation": {
                        "roll": -0.0004577678919304162,
                        "pitch": -0.04412984848022461,
                        "yaw": -80.2713394165039
                    }
                },
                "velocity": {
                    "x": 0.13470594584941864,
                    "y": -0.8275793790817261,
                    "z": -0.0004776096320711076
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.932271957397461,
                "transform": {
                    "location": {
                        "x": 937.696044921875,
                        "y": 3521.749267578125,
                        "z": 370.8079528808594
                    },
                    "rotation": {
                        "roll": 0.012819090858101845,
                        "pitch": 0.15536630153656006,
                        "yaw": 99.50638580322266
                    }
                },
                "velocity": {
                    "x": -1.303338885307312,
                    "y": 7.824435234069824,
                    "z": 0.02142832800745964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0017819489585235715,
                "transform": {
                    "location": {
                        "x": 962.3391723632812,
                        "y": 3582.54248046875,
                        "z": 370.5925598144531
                    },
                    "rotation": {
                        "roll": -0.0028991722501814365,
                        "pitch": 0.5971155762672424,
                        "yaw": -171.15756225585938
                    }
                },
                "velocity": {
                    "x": 3.8248450437095016e-05,
                    "y": 2.6506455469643697e-05,
                    "z": 0.0017813412705436349
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.4197387695312,
                        "y": 3488.44580078125,
                        "z": 370.6993408203125
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006847507902421057,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0012227891711518168,
                        "pitch": 0.03819441422820091,
                        "yaw": -80.78102111816406
                    }
                },
                "velocity": {
                    "x": -2.3799832149506983e-07,
                    "y": 1.9547994156710047e-07,
                    "z": -0.0006847507320344448
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006709481822326779,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.00039672967977821827,
                        "pitch": 0.03880913183093071,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": -1.7961860066861846e-05,
                    "y": 3.4058464848385483e-07,
                    "z": 0.0006707076099701226
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00042648546514101326,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0011519026011228561,
                        "pitch": 0.002390566049143672,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": 2.9885377443861216e-06,
                    "y": 7.043825917207869e-06,
                    "z": 0.00042641680920496583
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021901613217778504,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 1.4978557373979129e-05,
                        "pitch": -0.009248076006770134,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 2.928654612333048e-05,
                    "y": -4.611446001945296e-06,
                    "z": 0.00021700022625736892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00026250179507769644,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 1.4611184269597288e-05,
                    "y": 1.396290917909937e-05,
                    "z": 0.0002617226564325392
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072246551513672,
                "transform": {
                    "location": {
                        "x": 934.7827758789062,
                        "y": 3539.66650390625,
                        "z": 370.8499450683594
                    },
                    "rotation": {
                        "roll": -9.15540658752434e-05,
                        "pitch": 0.11749973893165588,
                        "yaw": 99.1332015991211
                    }
                },
                "velocity": {
                    "x": -1.2832423448562622,
                    "y": 7.969579219818115,
                    "z": 0.016041450202465057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.0413818359375,
                        "y": 3503.224365234375,
                        "z": 370.75
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5392835848615505e-05,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -1.0130833061339217e-06,
                    "y": 1.1890055020558066e-06,
                    "z": 1.53133714775322e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004849955439567566,
                "transform": {
                    "location": {
                        "x": 923.0145874023438,
                        "y": 3633.8740234375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": -9.155390580417588e-05,
                        "pitch": -0.04320777580142021,
                        "yaw": 99.14336395263672
                    }
                },
                "velocity": {
                    "x": -2.3724312541162362e-06,
                    "y": -3.854380702250637e-05,
                    "z": -0.00048345568939112127
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.23511004447937,
                "transform": {
                    "location": {
                        "x": 919.111328125,
                        "y": 3637.11181640625,
                        "z": 370.8659973144531
                    },
                    "rotation": {
                        "roll": -0.00018309497681912035,
                        "pitch": -0.14175373315811157,
                        "yaw": 99.2857437133789
                    }
                },
                "velocity": {
                    "x": -0.3600411117076874,
                    "y": 2.205919027328491,
                    "z": -0.0029628847260028124
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.07336726784706116,
                "transform": {
                    "location": {
                        "x": 941.8005981445312,
                        "y": 3517.1220703125,
                        "z": 370.8118591308594
                    },
                    "rotation": {
                        "roll": 0.0011207021307200193,
                        "pitch": 0.15665720403194427,
                        "yaw": 99.14253997802734
                    }
                },
                "velocity": {
                    "x": -8.111139322863892e-05,
                    "y": -0.00021973950788378716,
                    "z": 0.07336689531803131
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.189120769500732,
                "transform": {
                    "location": {
                        "x": 936.9002685546875,
                        "y": 3546.962646484375,
                        "z": 370.88995361328125
                    },
                    "rotation": {
                        "roll": 8.224309567594901e-05,
                        "pitch": 0.2330118864774704,
                        "yaw": 99.14017486572266
                    }
                },
                "velocity": {
                    "x": -0.6656286716461182,
                    "y": 4.135896682739258,
                    "z": 0.005603914149105549
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7807087898254395,
                "transform": {
                    "location": {
                        "x": 934.2255859375,
                        "y": 3563.60546875,
                        "z": 370.87725830078125
                    },
                    "rotation": {
                        "roll": 0.023585552349686623,
                        "pitch": -0.1571626514196396,
                        "yaw": 99.0022964477539
                    }
                },
                "velocity": {
                    "x": -0.5669776201248169,
                    "y": 3.7379531860351562,
                    "z": 0.0015267276903614402
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05899715423584,
                "transform": {
                    "location": {
                        "x": 922.5000610351562,
                        "y": 3615.99267578125,
                        "z": 370.880615234375
                    },
                    "rotation": {
                        "roll": 0.0002904448483604938,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14495849609375
                    }
                },
                "velocity": {
                    "x": -1.28123140335083,
                    "y": 7.956497669219971,
                    "z": -0.005598335061222315
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00036477093817666173,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": 1.6593448890489526e-05,
                    "y": 1.4380393622559495e-05,
                    "z": -0.0003641094663180411
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.070784091949463,
                "transform": {
                    "location": {
                        "x": 939.1864624023438,
                        "y": 3532.778076171875,
                        "z": 370.82867431640625
                    },
                    "rotation": {
                        "roll": -0.0007629339233972132,
                        "pitch": -0.2486325353384018,
                        "yaw": 99.43334197998047
                    }
                },
                "velocity": {
                    "x": -0.6632480621337891,
                    "y": 4.016384601593018,
                    "z": 0.0062177181243896484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.137613296508789,
                "transform": {
                    "location": {
                        "x": 931.071533203125,
                        "y": 3583.216552734375,
                        "z": 370.8976135253906
                    },
                    "rotation": {
                        "roll": -0.2397155910730362,
                        "pitch": -0.24962973594665527,
                        "yaw": 99.21414184570312
                    }
                },
                "velocity": {
                    "x": -1.3022462129592896,
                    "y": 8.03273868560791,
                    "z": -0.004894599784165621
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056924819946289,
                "transform": {
                    "location": {
                        "x": 967.7724609375,
                        "y": 3586.670654296875,
                        "z": 370.5395202636719
                    },
                    "rotation": {
                        "roll": -0.00045776492333970964,
                        "pitch": -0.6053118109703064,
                        "yaw": 9.255334854125977
                    }
                },
                "velocity": {
                    "x": 7.951418876647949,
                    "y": 1.2968603372573853,
                    "z": -0.08438471704721451
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07100370526313782,
        "expert_target_speed": 4.035572371868016,
        "target_point": [
            20.18161116929145,
            -0.8838474959945382
        ],
        "target_point_next": [
            20.18161116929145,
            -0.8838474959945382
        ]
    },
    "835": {
        "acceleration": [
            -0.058884620666503906,
            0.18769264221191406,
            -0.013433648273348808
        ],
        "angular_velocity": [
            0.0723869800567627,
            0.039277974516153336,
            0.3300774097442627
        ],
        "forward_vector": [
            -0.2050417959690094,
            0.9787532091140747,
            5.495547884493135e-05
        ],
        "right_vector": [
            -0.9787532091140747,
            -0.2050417959690094,
            6.498113361885771e-05
        ],
        "location": [
            927.3729248046875,
            3586.34814453125,
            370.89306640625
        ],
        "rotation": [
            -0.00372314453125,
            0.0031487171072512865,
            101.83194732666016
        ],
        "velocity": [
            -0.5751952528953552,
            2.703765392303467,
            0.0022167491260915995
        ],
        "speed": 2.7642714909305255,
        "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": 32.05698013305664,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                922.1798095703125,
                3617.981689453125,
                370.8793029785156
            ],
            "velocity": [
                -1.2809116840362549,
                7.956705093383789,
                -0.00564059242606163
            ],
            "speed_kmh": 29.012945311042674,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6573983430862427,
                "transform": {
                    "location": {
                        "x": 927.2207641601562,
                        "y": 3628.2236328125,
                        "z": 370.9098205566406
                    },
                    "rotation": {
                        "roll": -6.103832129156217e-05,
                        "pitch": 0.14120732247829437,
                        "yaw": -80.69038391113281
                    }
                },
                "velocity": {
                    "x": 0.2752758860588074,
                    "y": -1.6343340873718262,
                    "z": 0.012022837996482849
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5840245485305786,
                "transform": {
                    "location": {
                        "x": 973.108642578125,
                        "y": 3584.309814453125,
                        "z": 370.4754333496094
                    },
                    "rotation": {
                        "roll": 0.0010640544351190329,
                        "pitch": 0.6837906837463379,
                        "yaw": -170.74285888671875
                    }
                },
                "velocity": {
                    "x": -1.5654710531234741,
                    "y": -0.24101737141609192,
                    "z": 0.01857643947005272
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013988479040563107,
                "transform": {
                    "location": {
                        "x": 929.8768310546875,
                        "y": 3612.2705078125,
                        "z": 370.89154052734375
                    },
                    "rotation": {
                        "roll": 0.00029775474104098976,
                        "pitch": 0.1625858098268509,
                        "yaw": -80.72599792480469
                    }
                },
                "velocity": {
                    "x": -0.00022920937044546008,
                    "y": 0.0008945063455030322,
                    "z": 0.0010507601546123624
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0359532833099365,
                "transform": {
                    "location": {
                        "x": 932.60498046875,
                        "y": 3615.730224609375,
                        "z": 370.8760986328125
                    },
                    "rotation": {
                        "roll": 0.0005430485471151769,
                        "pitch": 0.04396592453122139,
                        "yaw": -80.27086639404297
                    }
                },
                "velocity": {
                    "x": 0.16326496005058289,
                    "y": -1.0230050086975098,
                    "z": 0.002126398030668497
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.6915507316589355,
                "transform": {
                    "location": {
                        "x": 937.3756713867188,
                        "y": 3523.674560546875,
                        "z": 370.8131408691406
                    },
                    "rotation": {
                        "roll": 0.007699581328779459,
                        "pitch": 0.14210207760334015,
                        "yaw": 99.41407775878906
                    }
                },
                "velocity": {
                    "x": -1.2516745328903198,
                    "y": 7.58899450302124,
                    "z": 0.020640896633267403
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007619393290951848,
                "transform": {
                    "location": {
                        "x": 962.3391723632812,
                        "y": 3582.54248046875,
                        "z": 370.5925598144531
                    },
                    "rotation": {
                        "roll": -0.0035095238126814365,
                        "pitch": 0.5972931981086731,
                        "yaw": -171.1575469970703
                    }
                },
                "velocity": {
                    "x": 2.3384092855849303e-05,
                    "y": -1.743394932418596e-05,
                    "z": 0.0007613808265887201
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2211303710938,
                        "y": 3489.6796875,
                        "z": 370.7039489746094
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00037769245682284236,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0012227891711518168,
                        "pitch": 0.03819441422820091,
                        "yaw": -80.78102111816406
                    }
                },
                "velocity": {
                    "x": 4.207715278425894e-07,
                    "y": 1.383554149470001e-06,
                    "z": 0.00037768969195894897
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000272314646281302,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.00039672967977821827,
                        "pitch": 0.03880913183093071,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": 7.236071269289823e-06,
                    "y": 8.154264833137859e-06,
                    "z": 0.000272096338449046
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007768277428112924,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0011519026011228561,
                        "pitch": 0.002390566049143672,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": 8.427239208685933e-07,
                    "y": -4.536268079391448e-06,
                    "z": 0.0007768140058033168
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019642745610326529,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 1.4978557373979129e-05,
                        "pitch": -0.009248076006770134,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": -7.685953278269153e-06,
                    "y": 6.02051386522362e-06,
                    "z": 0.0001961846719495952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006170623819343746,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 2.2401362002710812e-05,
                    "y": 2.4388637029915117e-05,
                    "z": 0.0006161731434985995
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06637191772461,
                "transform": {
                    "location": {
                        "x": 934.4623413085938,
                        "y": 3541.658447265625,
                        "z": 370.8536376953125
                    },
                    "rotation": {
                        "roll": 0.0005326654645614326,
                        "pitch": 0.0983273983001709,
                        "yaw": 99.15862274169922
                    }
                },
                "velocity": {
                    "x": -1.2819445133209229,
                    "y": 7.963842391967773,
                    "z": 0.013545646332204342
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.9090576171875,
                        "y": 3504.046875,
                        "z": 370.7525634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00034301559207960963,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 1.534731018182356e-05,
                    "y": 4.043984063173411e-06,
                    "z": 0.0003426482144277543
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.046373311430215836,
                "transform": {
                    "location": {
                        "x": 923.0128784179688,
                        "y": 3633.88427734375,
                        "z": 370.8777770996094
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": -0.03155547380447388,
                        "yaw": 99.14604949951172
                    }
                },
                "velocity": {
                    "x": -0.007395971100777388,
                    "y": 0.04576965048909187,
                    "z": -0.0009607219253666699
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0017481595277786255,
                "transform": {
                    "location": {
                        "x": 919.0949096679688,
                        "y": 3637.213134765625,
                        "z": 370.86572265625
                    },
                    "rotation": {
                        "roll": -0.0011901827529072762,
                        "pitch": -0.1134016215801239,
                        "yaw": 99.29483795166016
                    }
                },
                "velocity": {
                    "x": -2.158522511308547e-05,
                    "y": -9.001918078865856e-05,
                    "z": 0.0017457067733630538
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.07532104849815369,
                "transform": {
                    "location": {
                        "x": 941.6705322265625,
                        "y": 3517.94482421875,
                        "z": 370.8096923828125
                    },
                    "rotation": {
                        "roll": 0.0005769864073954523,
                        "pitch": 0.156950905919075,
                        "yaw": 99.14253997802734
                    }
                },
                "velocity": {
                    "x": 7.223513966891915e-05,
                    "y": -0.00019719066040124744,
                    "z": 0.0753207579255104
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.260406494140625,
                "transform": {
                    "location": {
                        "x": 936.7080078125,
                        "y": 3548.15869140625,
                        "z": 370.8922424316406
                    },
                    "rotation": {
                        "roll": 0.0005705319344997406,
                        "pitch": 0.2247200459241867,
                        "yaw": 99.13407897949219
                    }
                },
                "velocity": {
                    "x": -0.8354620933532715,
                    "y": 5.193630695343018,
                    "z": 0.008914775215089321
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005205074790865183,
                "transform": {
                    "location": {
                        "x": 934.1658935546875,
                        "y": 3564.001708984375,
                        "z": 370.87744140625
                    },
                    "rotation": {
                        "roll": -0.004821727983653545,
                        "pitch": -0.6480961441993713,
                        "yaw": 98.9297103881836
                    }
                },
                "velocity": {
                    "x": 0.0010016163578256965,
                    "y": -0.004869111347943544,
                    "z": 0.001543153077363968
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059151649475098,
                "transform": {
                    "location": {
                        "x": 922.1798095703125,
                        "y": 3617.981689453125,
                        "z": 370.8793029785156
                    },
                    "rotation": {
                        "roll": 3.9053480577422306e-05,
                        "pitch": -0.03814660385251045,
                        "yaw": 99.14231872558594
                    }
                },
                "velocity": {
                    "x": -1.2809116840362549,
                    "y": 7.956705093383789,
                    "z": -0.00564059242606163
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2664159738924354e-05,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": 5.194209279579809e-06,
                    "y": 1.1378587259969208e-05,
                    "z": -5.1157225243514404e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.2202317714691162,
                "transform": {
                    "location": {
                        "x": 939.0845947265625,
                        "y": 3533.37158203125,
                        "z": 370.8296813964844
                    },
                    "rotation": {
                        "roll": 0.011367577128112316,
                        "pitch": -0.4445428252220154,
                        "yaw": 100.60507202148438
                    }
                },
                "velocity": {
                    "x": -0.031198740005493164,
                    "y": 0.2180091291666031,
                    "z": 0.0008309745462611318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.979496479034424,
                "transform": {
                    "location": {
                        "x": 930.749755859375,
                        "y": 3585.208251953125,
                        "z": 370.89276123046875
                    },
                    "rotation": {
                        "roll": -0.0029296886641532183,
                        "pitch": -0.026671886444091797,
                        "yaw": 99.20378112792969
                    }
                },
                "velocity": {
                    "x": -1.2870060205459595,
                    "y": 7.874965190887451,
                    "z": -0.03007887862622738
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0556640625,
                "transform": {
                    "location": {
                        "x": 969.7598266601562,
                        "y": 3586.994873046875,
                        "z": 370.51800537109375
                    },
                    "rotation": {
                        "roll": 0.0001333066466031596,
                        "pitch": -0.624354362487793,
                        "yaw": 9.279340744018555
                    }
                },
                "velocity": {
                    "x": 7.950156211853027,
                    "y": 1.2965470552444458,
                    "z": -0.08783910423517227
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1092662513256073,
        "expert_target_speed": 3.9190319946240892,
        "target_point": [
            19.479831759834575,
            -0.9143000641040286
        ],
        "target_point_next": [
            19.479831759834575,
            -0.9143000641040286
        ]
    },
    "840": {
        "acceleration": [
            0.4870098829269409,
            -2.31931209564209,
            -0.011289408430457115
        ],
        "angular_velocity": [
            -0.542179524898529,
            -0.118779756128788,
            0.23956839740276337
        ],
        "forward_vector": [
            -0.20625051856040955,
            0.9784980416297913,
            -0.0014865391422063112
        ],
        "right_vector": [
            -0.978499174118042,
            -0.20625071227550507,
            3.0892668291926384e-05
        ],
        "location": [
            927.2389526367188,
            3586.97802734375,
            370.8937072753906
        ],
        "rotation": [
            -0.001770021510310471,
            -0.08517245203256607,
            101.90272521972656
        ],
        "velocity": [
            -0.4877110421657562,
            2.281895875930786,
            0.00180473318323493
        ],
        "speed": 2.3334332750778066,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.239692794808951,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 36.61610794067383,
        "front_vehicle_info": {
            "id": 4849,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                924.6839599609375,
                3623.5048828125,
                370.8850402832031
            ],
            "velocity": [
                -2.307317799932207e-06,
                3.129262495349394e-06,
                0.0002516251115594059
            ],
            "speed_kmh": 0.0009059585274467906,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.762340545654297,
                "transform": {
                    "location": {
                        "x": 927.3125610351562,
                        "y": 3627.68017578125,
                        "z": 370.91131591796875
                    },
                    "rotation": {
                        "roll": -0.001373286242596805,
                        "pitch": 0.15237468481063843,
                        "yaw": -80.58567810058594
                    }
                },
                "velocity": {
                    "x": 0.46522101759910583,
                    "y": -2.7228798866271973,
                    "z": 0.004372234456241131
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8633948564529419,
                "transform": {
                    "location": {
                        "x": 972.69921875,
                        "y": 3584.24365234375,
                        "z": 370.48046875
                    },
                    "rotation": {
                        "roll": -0.002380370395258069,
                        "pitch": 0.649571418762207,
                        "yaw": -170.82188415527344
                    }
                },
                "velocity": {
                    "x": -0.8503142595291138,
                    "y": -0.1493171900510788,
                    "z": 0.010986766777932644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013822484761476517,
                "transform": {
                    "location": {
                        "x": 929.876708984375,
                        "y": 3612.270751953125,
                        "z": 370.8924560546875
                    },
                    "rotation": {
                        "roll": 0.0005882119294255972,
                        "pitch": 0.05345305800437927,
                        "yaw": -80.72599792480469
                    }
                },
                "velocity": {
                    "x": -8.32643036119407e-06,
                    "y": 0.0002032426855294034,
                    "z": 0.001367199351079762
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0499379634857178,
                "transform": {
                    "location": {
                        "x": 932.6567993164062,
                        "y": 3615.412353515625,
                        "z": 370.8760986328125
                    },
                    "rotation": {
                        "roll": 0.0002706231316551566,
                        "pitch": 0.07506377249956131,
                        "yaw": -80.28800201416016
                    }
                },
                "velocity": {
                    "x": 0.33111652731895447,
                    "y": -2.0230183601379395,
                    "z": 0.0019097995245829225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.9035444259643555,
                "transform": {
                    "location": {
                        "x": 937.059326171875,
                        "y": 3525.598876953125,
                        "z": 370.8180847167969
                    },
                    "rotation": {
                        "roll": 0.01012449897825718,
                        "pitch": 0.1419108361005783,
                        "yaw": 99.30877685546875
                    }
                },
                "velocity": {
                    "x": -1.2738399505615234,
                    "y": 7.800185203552246,
                    "z": 0.021315651014447212
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006488748476840556,
                "transform": {
                    "location": {
                        "x": 962.3391723632812,
                        "y": 3582.54248046875,
                        "z": 370.5925598144531
                    },
                    "rotation": {
                        "roll": -0.0032348637469112873,
                        "pitch": 0.5971155762672424,
                        "yaw": -171.1575164794922
                    }
                },
                "velocity": {
                    "x": 2.0351633793325163e-05,
                    "y": 3.5494379062583903e-06,
                    "z": 0.0006485459161922336
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.0887451171875,
                        "y": 3490.502197265625,
                        "z": 370.7069091796875
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006569526740349829,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.88714599609375
                    },
                    "rotation": {
                        "roll": 0.000924050051253289,
                        "pitch": 0.03846079483628273,
                        "yaw": -80.78102111816406
                    }
                },
                "velocity": {
                    "x": 2.0116567966965704e-08,
                    "y": 1.2284889407965238e-06,
                    "z": -0.0006569515098817647
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012036288535455242,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.00039672967977821827,
                        "pitch": 0.03880913183093071,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": 6.909323928994127e-06,
                    "y": 6.517665497085545e-06,
                    "z": -0.00011998752597719431
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007095289183780551,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0011519026011228561,
                        "pitch": 0.002390566049143672,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -1.0884208677452989e-05,
                    "y": -2.8852414288849104e-06,
                    "z": 0.0007094395696185529
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.957216439535841e-05,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": -0.0006713870679959655,
                        "pitch": -0.009521283209323883,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 5.361734110920224e-06,
                    "y": -1.3080668395559769e-05,
                    "z": -7.83063005656004e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00045776652405038476,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 1.8536895368015394e-05,
                    "y": 1.6892337953322567e-05,
                    "z": 0.00045707900426350534
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.863492488861084,
                "transform": {
                    "location": {
                        "x": 934.1450805664062,
                        "y": 3543.62890625,
                        "z": 370.8571472167969
                    },
                    "rotation": {
                        "roll": 0.0001073253879440017,
                        "pitch": 0.05339158698916435,
                        "yaw": 99.12676239013672
                    }
                },
                "velocity": {
                    "x": -1.2490612268447876,
                    "y": 7.763644695281982,
                    "z": 0.013554200530052185
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.71044921875,
                        "y": 3505.280517578125,
                        "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00025165514671243727,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": -2.307317799932207e-06,
                    "y": 3.129262495349394e-06,
                    "z": 0.0002516251115594059
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4848,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.06872457265853882,
                "transform": {
                    "location": {
                        "x": 923.0104370117188,
                        "y": 3633.8984375,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": -0.000366212276276201,
                        "pitch": -0.042381320148706436,
                        "yaw": 99.15046691894531
                    }
                },
                "velocity": {
                    "x": -0.011989668011665344,
                    "y": 0.06765268743038177,
                    "z": -0.0015584754291921854
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009409868507646024,
                "transform": {
                    "location": {
                        "x": 919.0948486328125,
                        "y": 3637.21337890625,
                        "z": 370.8653564453125
                    },
                    "rotation": {
                        "roll": 0.00013042398495599627,
                        "pitch": -0.055782150477170944,
                        "yaw": 99.29483795166016
                    }
                },
                "velocity": {
                    "x": 2.50383818638511e-05,
                    "y": -1.0801330063259229e-05,
                    "z": 0.0009405916789546609
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.07891569286584854,
                "transform": {
                    "location": {
                        "x": 941.6055297851562,
                        "y": 3518.356201171875,
                        "z": 370.814208984375
                    },
                    "rotation": {
                        "roll": 0.0015140798641368747,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14257049560547
                    }
                },
                "velocity": {
                    "x": -0.00015182778588496149,
                    "y": -0.00023951941693667322,
                    "z": 0.07891518622636795
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.857553958892822,
                "transform": {
                    "location": {
                        "x": 936.49365234375,
                        "y": 3549.494873046875,
                        "z": 370.8946838378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.16877396404743195,
                        "yaw": 99.21671295166016
                    }
                },
                "velocity": {
                    "x": -0.930536150932312,
                    "y": 5.783163547515869,
                    "z": 0.007880820892751217
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004231565166264772,
                "transform": {
                    "location": {
                        "x": 934.1653442382812,
                        "y": 3564.004638671875,
                        "z": 370.877685546875
                    },
                    "rotation": {
                        "roll": -0.002166744088754058,
                        "pitch": -0.14227283000946045,
                        "yaw": 98.92951965332031
                    }
                },
                "velocity": {
                    "x": 0.00028803080203942955,
                    "y": -0.003948378376662731,
                    "z": 0.0014944864669814706
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059289932250977,
                "transform": {
                    "location": {
                        "x": 921.8596801757812,
                        "y": 3619.97119140625,
                        "z": 370.87786865234375
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": -0.03814660385251045,
                        "yaw": 99.1476058959961
                    }
                },
                "velocity": {
                    "x": -1.2808092832565308,
                    "y": 7.9568610191345215,
                    "z": -0.0060300156474113464
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003668061690405011,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": 1.3456530723487958e-05,
                    "y": 1.599664756213315e-05,
                    "z": -0.00036621003528125584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1530557870864868,
                "transform": {
                    "location": {
                        "x": 939.0614013671875,
                        "y": 3533.510498046875,
                        "z": 370.8306579589844
                    },
                    "rotation": {
                        "roll": 0.011214988306164742,
                        "pitch": 0.037367962300777435,
                        "yaw": 100.53263854980469
                    }
                },
                "velocity": {
                    "x": -0.1913551241159439,
                    "y": 1.1370609998703003,
                    "z": 0.003626270219683647
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02164077758789,
                "transform": {
                    "location": {
                        "x": 930.4307861328125,
                        "y": 3587.177001953125,
                        "z": 370.8922424316406
                    },
                    "rotation": {
                        "roll": 0.013547039590775967,
                        "pitch": 0.052954453974962234,
                        "yaw": 99.20210266113281
                    }
                },
                "velocity": {
                    "x": -1.279808521270752,
                    "y": 7.918886661529541,
                    "z": 0.006745567079633474
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055770874023438,
                "transform": {
                    "location": {
                        "x": 971.7470703125,
                        "y": 3587.318603515625,
                        "z": 370.4956970214844
                    },
                    "rotation": {
                        "roll": 0.0004949296708218753,
                        "pitch": -0.675778865814209,
                        "yaw": 9.23737907409668
                    }
                },
                "velocity": {
                    "x": 7.950544357299805,
                    "y": 1.2947726249694824,
                    "z": -0.08859167248010635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.14431312680244446,
        "expert_target_speed": 3.498431039839553,
        "target_point": [
            18.834716066610216,
            -0.9395352371315933
        ],
        "target_point_next": [
            18.834716066610216,
            -0.9395352371315933
        ]
    },
    "845": {
        "acceleration": [
            -0.2011263370513916,
            0.8812260627746582,
            -0.0010143290273845196
        ],
        "angular_velocity": [
            0.5796903371810913,
            0.1227526068687439,
            0.22648265957832336
        ],
        "forward_vector": [
            -0.20721329748630524,
            0.9782932996749878,
            -0.002217410132288933
        ],
        "right_vector": [
            -0.9782956838607788,
            -0.20721372961997986,
            3.568629836081527e-05
        ],
        "location": [
            927.12890625,
            3587.49267578125,
            370.89404296875
        ],
        "rotation": [
            -0.0020446793641895056,
            -0.1270483434200287,
            101.95912170410156
        ],
        "velocity": [
            -0.4305984377861023,
            2.0043435096740723,
            0.0017864322289824486
        ],
        "speed": 2.0500751009161613,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.2473290395361603,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 3.4185967445373535,
        "front_vehicle_info": {
            "id": 4816,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                930.1095581054688,
                3589.166748046875,
                370.89361572265625
            ],
            "velocity": [
                -1.2810649871826172,
                7.957783222198486,
                0.005458927247673273
            ],
            "speed_kmh": 29.016864503622234,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.151075839996338,
                "transform": {
                    "location": {
                        "x": 927.4586791992188,
                        "y": 3626.819580078125,
                        "z": 370.9118347167969
                    },
                    "rotation": {
                        "roll": -0.001098625361919403,
                        "pitch": 0.18190841376781464,
                        "yaw": -80.47996520996094
                    }
                },
                "velocity": {
                    "x": 0.6994937062263489,
                    "y": -4.091714859008789,
                    "z": 0.003056812332943082
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.277259111404419,
                "transform": {
                    "location": {
                        "x": 972.4874877929688,
                        "y": 3584.209228515625,
                        "z": 370.4828186035156
                    },
                    "rotation": {
                        "roll": -0.0003967193770222366,
                        "pitch": 0.6824314594268799,
                        "yaw": -170.7376251220703
                    }
                },
                "velocity": {
                    "x": -1.2604639530181885,
                    "y": -0.2058270424604416,
                    "z": 0.01601962000131607
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7375019524479285e-05,
                "transform": {
                    "location": {
                        "x": 929.876708984375,
                        "y": 3612.271240234375,
                        "z": 370.892578125
                    },
                    "rotation": {
                        "roll": 0.00046973233111202717,
                        "pitch": 0.039519473910331726,
                        "yaw": -80.72599792480469
                    }
                },
                "velocity": {
                    "x": 4.4481566874310374e-06,
                    "y": 3.795865950451116e-06,
                    "z": 1.6361436792067252e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4387574195861816,
                "transform": {
                    "location": {
                        "x": 932.7310791015625,
                        "y": 3614.982177734375,
                        "z": 370.8763122558594
                    },
                    "rotation": {
                        "roll": -6.1031536461086944e-05,
                        "pitch": 0.08289117366075516,
                        "yaw": -80.69020080566406
                    }
                },
                "velocity": {
                    "x": 0.39853399991989136,
                    "y": -2.405973196029663,
                    "z": 0.0011590862413868308
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.812619209289551,
                "transform": {
                    "location": {
                        "x": 936.7922973632812,
                        "y": 3527.234375,
                        "z": 370.8253479003906
                    },
                    "rotation": {
                        "roll": 0.0044219838455319405,
                        "pitch": -0.23315532505512238,
                        "yaw": 99.25981903076172
                    }
                },
                "velocity": {
                    "x": -0.9330140948295593,
                    "y": 5.737231254577637,
                    "z": 0.014416884630918503
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014521664706990123,
                "transform": {
                    "location": {
                        "x": 962.3391723632812,
                        "y": 3582.54248046875,
                        "z": 370.5925598144531
                    },
                    "rotation": {
                        "roll": -0.004547119140625,
                        "pitch": 0.5978942513465881,
                        "yaw": -171.15750122070312
                    }
                },
                "velocity": {
                    "x": 3.427326737437397e-05,
                    "y": 8.167698695160652e-08,
                    "z": 0.0014517620438709855
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.89013671875,
                        "y": 3491.73583984375,
                        "z": 370.71136474609375
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006937936996109784,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.8871765136719
                    },
                    "rotation": {
                        "roll": 5.2301984396763146e-05,
                        "pitch": 0.037579700350761414,
                        "yaw": -80.78102111816406
                    }
                },
                "velocity": {
                    "x": -8.16553324511915e-07,
                    "y": 1.2086005654055043e-06,
                    "z": -0.0006937921862117946
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00021694389579351991,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.00039672967977821827,
                        "pitch": 0.03880913183093071,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": -2.3339280232903548e-06,
                    "y": -4.1087296267505735e-06,
                    "z": 0.00021689242566935718
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003495716373436153,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0007112508756108582,
                        "pitch": 0.0021173586137592793,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": 3.451331940595992e-05,
                    "y": 1.0897393622144591e-05,
                    "z": 0.00034769298508763313
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.689474503218662e-07,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": -0.0006713870679959655,
                        "pitch": -0.009521283209323883,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 1.1675408728706316e-07,
                    "y": -6.567523769263062e-07,
                    "z": 5.035394678998273e-08
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007630005711689591,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 2.4027824110817164e-05,
                    "y": 5.881264769413974e-06,
                    "z": 0.0007625994621776044
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.505617141723633,
                "transform": {
                    "location": {
                        "x": 933.8404541015625,
                        "y": 3545.523681640625,
                        "z": 370.86053466796875
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.008838264271616936,
                        "yaw": 99.15194702148438
                    }
                },
                "velocity": {
                    "x": -1.1929363012313843,
                    "y": 7.410196304321289,
                    "z": 0.013380145654082298
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.578125,
                        "y": 3506.10302734375,
                        "z": 370.7586364746094
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006211713771335781,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 2.0036427486047614e-06,
                    "y": 6.734961516485782e-06,
                    "z": 0.0006211316213011742
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7790740457712673e-05,
                "transform": {
                    "location": {
                        "x": 919.0948486328125,
                        "y": 3637.21337890625,
                        "z": 370.86529541015625
                    },
                    "rotation": {
                        "roll": -0.00039672639104537666,
                        "pitch": -0.05111713334918022,
                        "yaw": 99.29483032226562
                    }
                },
                "velocity": {
                    "x": 1.6749439964769408e-05,
                    "y": 1.0688230531741283e-06,
                    "z": -5.9012136262026615e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.039209265261888504,
                "transform": {
                    "location": {
                        "x": 941.4730224609375,
                        "y": 3519.1787109375,
                        "z": 370.8222961425781
                    },
                    "rotation": {
                        "roll": 6.6701311141059705e-09,
                        "pitch": 0.15574879944324493,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -0.00011854335753014311,
                    "y": -0.00015334546333178878,
                    "z": 0.03920878469944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.245724201202393,
                "transform": {
                    "location": {
                        "x": 936.2423706054688,
                        "y": 3551.05126953125,
                        "z": 370.8961181640625
                    },
                    "rotation": {
                        "roll": -0.00119019637349993,
                        "pitch": 0.22618170082569122,
                        "yaw": 99.16341400146484
                    }
                },
                "velocity": {
                    "x": -1.152353286743164,
                    "y": 7.153496742248535,
                    "z": 0.009382009506225586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001398115186020732,
                "transform": {
                    "location": {
                        "x": 934.1652221679688,
                        "y": 3564.005615234375,
                        "z": 370.8777770996094
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 0.010620943270623684,
                        "yaw": 98.92950439453125
                    }
                },
                "velocity": {
                    "x": -0.00010957922495435923,
                    "y": -0.0009481339948251843,
                    "z": 0.0010216458467766643
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.245166301727295,
                "transform": {
                    "location": {
                        "x": 921.552490234375,
                        "y": 3621.87939453125,
                        "z": 370.876708984375
                    },
                    "rotation": {
                        "roll": -0.0001831061817938462,
                        "pitch": -0.05447075515985489,
                        "yaw": 99.14081573486328
                    }
                },
                "velocity": {
                    "x": -1.1515979766845703,
                    "y": 7.153057098388672,
                    "z": -0.005197982769459486
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000383058242732659,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": 1.1518299288582057e-05,
                    "y": 1.5790386896696873e-05,
                    "z": -0.0003825593157671392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.946215033531189,
                "transform": {
                    "location": {
                        "x": 938.9976196289062,
                        "y": 3533.888916015625,
                        "z": 370.8317565917969
                    },
                    "rotation": {
                        "roll": 0.010724385268986225,
                        "pitch": 0.20450268685817719,
                        "yaw": 100.31104278564453
                    }
                },
                "velocity": {
                    "x": -0.32273581624031067,
                    "y": 1.9192674160003662,
                    "z": 0.0026674747932702303
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.060239791870117,
                "transform": {
                    "location": {
                        "x": 930.1095581054688,
                        "y": 3589.166748046875,
                        "z": 370.89361572265625
                    },
                    "rotation": {
                        "roll": 0.009014547802507877,
                        "pitch": 0.03891158476471901,
                        "yaw": 99.14994049072266
                    }
                },
                "velocity": {
                    "x": -1.2810649871826172,
                    "y": 7.957783222198486,
                    "z": 0.005458927247673273
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05678939819336,
                "transform": {
                    "location": {
                        "x": 973.735107421875,
                        "y": 3587.642333984375,
                        "z": 370.47210693359375
                    },
                    "rotation": {
                        "roll": -0.0006408714107237756,
                        "pitch": -0.6737912893295288,
                        "yaw": 9.265817642211914
                    }
                },
                "velocity": {
                    "x": 7.951521873474121,
                    "y": 1.2945911884307861,
                    "z": -0.09583822637796402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.17322088778018951,
        "expert_target_speed": 3.220083126226567,
        "target_point": [
            18.307500559675358,
            -0.9590920507818805
        ],
        "target_point_next": [
            18.307500559675358,
            -0.9590920507818805
        ]
    },
    "850": {
        "acceleration": [
            -1.6254258155822754,
            7.481060028076172,
            0.0020421971566975117
        ],
        "angular_velocity": [
            2.1219968795776367,
            0.45458945631980896,
            0.35217493772506714
        ],
        "forward_vector": [
            -0.20838820934295654,
            0.978035032749176,
            0.004668457433581352
        ],
        "right_vector": [
            -0.9780455827713013,
            -0.20839092135429382,
            9.480746666667983e-05
        ],
        "location": [
            926.9924926757812,
            3588.127197265625,
            370.8928527832031
        ],
        "rotation": [
            -0.005432127043604851,
            0.2674838602542877,
            102.02804565429688
        ],
        "velocity": [
            -0.7036762237548828,
            3.2596960067749023,
            0.0018819140968844295
        ],
        "speed": 3.3347830940650662,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.73099899291992,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                921.3077392578125,
                3623.403076171875,
                370.87591552734375
            ],
            "velocity": [
                -0.6903392672538757,
                4.2464280128479,
                -0.007831764407455921
            ],
            "speed_kmh": 15.487859613043518,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.3608880043029785,
                "transform": {
                    "location": {
                        "x": 927.6610717773438,
                        "y": 3625.631591796875,
                        "z": 370.9129638671875
                    },
                    "rotation": {
                        "roll": 1.2806666745746043e-05,
                        "pitch": 0.17862309515476227,
                        "yaw": -80.38923645019531
                    }
                },
                "velocity": {
                    "x": 0.9042233228683472,
                    "y": -5.284078121185303,
                    "z": 0.004668998531997204
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4862,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.37406906485557556,
                "transform": {
                    "location": {
                        "x": 972.0955200195312,
                        "y": 3584.1435546875,
                        "z": 370.4877014160156
                    },
                    "rotation": {
                        "roll": -0.0014343266375362873,
                        "pitch": 0.6430622935295105,
                        "yaw": -170.86932373046875
                    }
                },
                "velocity": {
                    "x": -0.36786261200904846,
                    "y": -0.0678570494055748,
                    "z": 0.00042442319681867957
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1941975571971852e-05,
                "transform": {
                    "location": {
                        "x": 929.876708984375,
                        "y": 3612.271240234375,
                        "z": 370.892578125
                    },
                    "rotation": {
                        "roll": 0.00046973233111202717,
                        "pitch": 0.039519473910331726,
                        "yaw": -80.72599792480469
                    }
                },
                "velocity": {
                    "x": -1.9754713775910204e-06,
                    "y": 5.369149221223779e-06,
                    "z": 1.0482391189725604e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014049081364646554,
                "transform": {
                    "location": {
                        "x": 932.76171875,
                        "y": 3614.771728515625,
                        "z": 370.87725830078125
                    },
                    "rotation": {
                        "roll": -0.0021362260449677706,
                        "pitch": -0.060365207493305206,
                        "yaw": -80.31136322021484
                    }
                },
                "velocity": {
                    "x": -1.6976071492535993e-05,
                    "y": 0.00020204015891067684,
                    "z": -0.0013902008067816496
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4859,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.227038860321045,
                "transform": {
                    "location": {
                        "x": 936.5743408203125,
                        "y": 3528.57421875,
                        "z": 370.82733154296875
                    },
                    "rotation": {
                        "roll": 0.0026897562202066183,
                        "pitch": -0.07977660745382309,
                        "yaw": 99.22651672363281
                    }
                },
                "velocity": {
                    "x": -0.8359571695327759,
                    "y": 5.159740447998047,
                    "z": 0.01379767432808876
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4858,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014820432988926768,
                "transform": {
                    "location": {
                        "x": 962.3391723632812,
                        "y": 3582.54248046875,
                        "z": 370.5925598144531
                    },
                    "rotation": {
                        "roll": -0.004547119140625,
                        "pitch": 0.5978942513465881,
                        "yaw": -171.15750122070312
                    }
                },
                "velocity": {
                    "x": 3.3595264540053904e-05,
                    "y": -2.179743751185015e-05,
                    "z": 0.0014815022004768252
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4857,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.7578125,
                        "y": 3492.55859375,
                        "z": 370.71429443359375
                    },
                    "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": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000673270202241838,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0013807889772579074,
                        "pitch": 0.03818075358867645,
                        "yaw": -80.78102111816406
                    }
                },
                "velocity": {
                    "x": -8.712127964827232e-06,
                    "y": 3.906199594894133e-07,
                    "z": -0.000673213682603091
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002382177481194958,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.00039672967977821827,
                        "pitch": 0.03880913183093071,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": -1.9221584807382897e-05,
                    "y": 6.584450602531433e-07,
                    "z": 0.00023744009376969188
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006439254502765834,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0020149056799709797,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -4.431748493516352e-06,
                    "y": 3.390386609680718e-06,
                    "z": 0.0006439012940973043
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.784779306035489e-05,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 0.00012327524018473923,
                        "pitch": -0.009248076006770134,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 7.631012522324454e-06,
                    "y": -4.4660873754764907e-07,
                    "z": 1.612798405403737e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4852,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002046874724328518,
                "transform": {
                    "location": {
                        "x": 952.6786499023438,
                        "y": 3580.970458984375,
                        "z": 370.6942138671875
                    },
                    "rotation": {
                        "roll": 0.00027733008028008044,
                        "pitch": 0.5704983472824097,
                        "yaw": -170.70648193359375
                    }
                },
                "velocity": {
                    "x": 1.894861452456098e-05,
                    "y": -5.418062301032478e-07,
                    "z": 0.0002038077946053818
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4851,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.213397979736328,
                "transform": {
                    "location": {
                        "x": 933.5485229492188,
                        "y": 3547.3369140625,
                        "z": 370.8634033203125
                    },
                    "rotation": {
                        "roll": -0.00021362434199545532,
                        "pitch": 0.018885472789406776,
                        "yaw": 99.12793731689453
                    }
                },
                "velocity": {
                    "x": -1.1460226774215698,
                    "y": 7.121767044067383,
                    "z": 0.013225859962403774
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4850,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.3795166015625,
                        "y": 3507.3369140625,
                        "z": 370.7623291015625
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018966893549077213,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 7.772452590870671e-06,
                    "y": 2.845642029569717e-06,
                    "z": 0.0001894882443593815
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00025010594981722534,
                "transform": {
                    "location": {
                        "x": 919.0948486328125,
                        "y": 3637.21337890625,
                        "z": 370.86529541015625
                    },
                    "rotation": {
                        "roll": -0.00048828028957359493,
                        "pitch": -0.04906807467341423,
                        "yaw": 99.29483032226562
                    }
                },
                "velocity": {
                    "x": -2.1084435502416454e-05,
                    "y": -2.667326498340117e-06,
                    "z": -0.0002492013736627996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4829,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024681316688656807,
                "transform": {
                    "location": {
                        "x": 941.4069213867188,
                        "y": 3519.58984375,
                        "z": 370.82611083984375
                    },
                    "rotation": {
                        "roll": 0.0004719050775747746,
                        "pitch": 0.1553526371717453,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 0.00020773093274328858,
                    "y": -4.223966971039772e-05,
                    "z": 0.024680405855178833
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4826,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.753564357757568,
                "transform": {
                    "location": {
                        "x": 935.9693603515625,
                        "y": 3552.747314453125,
                        "z": 370.9000244140625
                    },
                    "rotation": {
                        "roll": 0.00029811958665959537,
                        "pitch": 0.016276339069008827,
                        "yaw": 99.14653015136719
                    }
                },
                "velocity": {
                    "x": -0.9133797287940979,
                    "y": 5.68059778213501,
                    "z": 0.007006616331636906
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005289068794809282,
                "transform": {
                    "location": {
                        "x": 934.1652221679688,
                        "y": 3564.005859375,
                        "z": 370.8777770996094
                    },
                    "rotation": {
                        "roll": -0.0014343266375362873,
                        "pitch": 0.03895939514040947,
                        "yaw": 98.92948913574219
                    }
                },
                "velocity": {
                    "x": -1.4968886716815177e-05,
                    "y": -0.00020804323139600456,
                    "z": 0.00048604156472720206
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.302183151245117,
                "transform": {
                    "location": {
                        "x": 921.3077392578125,
                        "y": 3623.403076171875,
                        "z": 370.87591552734375
                    },
                    "rotation": {
                        "roll": -0.0005798398633487523,
                        "pitch": -0.09649690985679626,
                        "yaw": 99.21823120117188
                    }
                },
                "velocity": {
                    "x": -0.6903392672538757,
                    "y": 4.2464280128479,
                    "z": -0.007831764407455921
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4818,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.558076084824279e-05,
                "transform": {
                    "location": {
                        "x": 871.7113037109375,
                        "y": 3568.181884765625,
                        "z": 371.3476867675781
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.32112133502960205,
                        "yaw": -171.17916870117188
                    }
                },
                "velocity": {
                    "x": 1.7061642211047e-05,
                    "y": 1.89980255527189e-05,
                    "z": 1.533192062197486e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4817,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3819313049316406,
                "transform": {
                    "location": {
                        "x": 938.8897705078125,
                        "y": 3534.53857421875,
                        "z": 370.8331604003906
                    },
                    "rotation": {
                        "roll": 0.011276887729763985,
                        "pitch": 0.310978502035141,
                        "yaw": 99.94575500488281
                    }
                },
                "velocity": {
                    "x": -0.5529581904411316,
                    "y": 3.3364133834838867,
                    "z": 0.006429309491068125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.998353958129883,
                "transform": {
                    "location": {
                        "x": 929.7907104492188,
                        "y": 3591.146240234375,
                        "z": 370.8945617675781
                    },
                    "rotation": {
                        "roll": 0.0036728030536323786,
                        "pitch": -0.00033467926550656557,
                        "yaw": 99.16812133789062
                    }
                },
                "velocity": {
                    "x": -1.2723464965820312,
                    "y": 7.896505355834961,
                    "z": 0.0014875984052196145
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4815,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055242538452148,
                "transform": {
                    "location": {
                        "x": 975.7227172851562,
                        "y": 3587.966064453125,
                        "z": 370.44854736328125
                    },
                    "rotation": {
                        "roll": -0.0006103533669374883,
                        "pitch": -0.6721178889274597,
                        "yaw": 9.237812042236328
                    }
                },
                "velocity": {
                    "x": 7.949894905090332,
                    "y": 1.295046329498291,
                    "z": -0.09465630352497101
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2109040468931198,
        "expert_target_speed": 4.475309646133172,
        "target_point": [
            17.657315161100584,
            -0.9823069686338046
        ],
        "target_point_next": [
            17.657315161100584,
            -0.9823069686338046
        ]
    },
    "855": {
        "acceleration": [
            -1.346752643585205,
            6.8996429443359375,
            0.10641822218894958
        ],
        "angular_velocity": [
            0.9188725352287292,
            0.10186560451984406,
            -0.8330449461936951
        ],
        "forward_vector": [
            -0.20697429776191711,
            0.9782849550247192,
            0.010960359126329422
        ],
        "right_vector": [
            -0.9783446788787842,
            -0.20698152482509613,
            -0.000483105395687744
        ],
        "location": [
            926.7715454101562,
            3589.173583984375,
            370.89190673828125
        ],
        "rotation": [
            0.027681564912199974,
            0.6279948949813843,
            101.9458236694336
        ],
        "velocity": [
            -1.0380713939666748,
            4.999507427215576,
            0.007386731915175915
        ],
        "speed": 5.106140101265889,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 35.09745407104492,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                921.2377319335938,
                3623.83203125,
                370.8758544921875
            ],
            "velocity": [
                -2.9627752155647613e-05,
                -6.160949124023318e-05,
                0.0010286374017596245
            ],
            "speed_kmh": 0.0037112637940196038,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.426244735717773,
                "transform": {
                    "location": {
                        "x": 927.8865966796875,
                        "y": 3624.310302734375,
                        "z": 370.91461181640625
                    },
                    "rotation": {
                        "roll": 0.0002575664548203349,
                        "pitch": 0.09050682932138443,
                        "yaw": -80.3303451538086
                    }
                },
                "velocity": {
                    "x": 0.9155043363571167,
                    "y": -5.348455905914307,
                    "z": 0.0019248961471021175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3179232155380305e-05,
                "transform": {
                    "location": {
                        "x": 929.876708984375,
                        "y": 3612.271240234375,
                        "z": 370.892578125
                    },
                    "rotation": {
                        "roll": 0.00022878969321027398,
                        "pitch": 0.03872717171907425,
                        "yaw": -80.72599792480469
                    }
                },
                "velocity": {
                    "x": -5.053174390923232e-06,
                    "y": 2.397731805103831e-06,
                    "z": -1.1933502719330136e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00012344957212917507,
                "transform": {
                    "location": {
                        "x": 932.7617797851562,
                        "y": 3614.771240234375,
                        "z": 370.876708984375
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": 0.013503283262252808,
                        "yaw": -80.31135559082031
                    }
                },
                "velocity": {
                    "x": -7.062359509291127e-05,
                    "y": 9.796200174605474e-05,
                    "z": 2.5603698304621503e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00031149204005487263,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0013807889772579074,
                        "pitch": 0.03818075358867645,
                        "yaw": -80.78102111816406
                    }
                },
                "velocity": {
                    "x": -5.609740128420526e-06,
                    "y": -2.20687593355251e-06,
                    "z": -0.00031143371597863734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005637016729451716,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.00039672967977821827,
                        "pitch": 0.03880913183093071,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": -1.851403976615984e-05,
                    "y": -1.2565310498757754e-06,
                    "z": 0.0005633961409330368
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00018173571152146906,
                "transform": {
                    "location": {
                        "x": 935.9225463867188,
                        "y": 3595.0556640625,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0006742586847394705,
                        "pitch": 0.0019397735595703125,
                        "yaw": -77.37596130371094
                    }
                },
                "velocity": {
                    "x": -1.0913446203630883e-05,
                    "y": -3.6875453588436358e-06,
                    "z": 0.00018137024017050862
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5989258827175945e-05,
                "transform": {
                    "location": {
                        "x": 932.9346923828125,
                        "y": 3593.09619140625,
                        "z": 370.9025573730469
                    },
                    "rotation": {
                        "roll": 0.00012327524018473923,
                        "pitch": -0.009248076006770134,
                        "yaw": -81.96745300292969
                    }
                },
                "velocity": {
                    "x": 7.679738018850912e-07,
                    "y": -1.0133802561540506e-06,
                    "z": 1.5938621800160035e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6839599609375,
                        "y": 3623.5048828125,
                        "z": 370.8850402832031
                    },
                    "rotation": {
                        "roll": 0.00026042768149636686,
                        "pitch": -0.03881596401333809,
                        "yaw": 99.14254760742188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.006524202413856983,
                "transform": {
                    "location": {
                        "x": 919.0946044921875,
                        "y": 3637.21484375,
                        "z": 370.86529541015625
                    },
                    "rotation": {
                        "roll": 3.348728205310181e-05,
                        "pitch": -0.04833724722266197,
                        "yaw": 99.29364013671875
                    }
                },
                "velocity": {
                    "x": 0.0009545777575112879,
                    "y": -0.006435364950448275,
                    "z": -0.0004899787600152194
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001030906569212675,
                "transform": {
                    "location": {
                        "x": 921.2377319335938,
                        "y": 3623.83203125,
                        "z": 370.8758544921875
                    },
                    "rotation": {
                        "roll": -0.00048828008584678173,
                        "pitch": -0.1465143859386444,
                        "yaw": 99.2413558959961
                    }
                },
                "velocity": {
                    "x": -2.9627752155647613e-05,
                    "y": -6.160949124023318e-05,
                    "z": 0.0010286374017596245
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040406227111816,
                "transform": {
                    "location": {
                        "x": 929.4716796875,
                        "y": 3593.125244140625,
                        "z": 370.8948059082031
                    },
                    "rotation": {
                        "roll": 0.001717277686111629,
                        "pitch": 0.015600151382386684,
                        "yaw": 99.13900756835938
                    }
                },
                "velocity": {
                    "x": -1.278863549232483,
                    "y": 7.938050746917725,
                    "z": 0.0004265308380126953
                },
                "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": -0.25804099440574646,
        "expert_target_speed": 6.128404604614281,
        "target_point": [
            16.58924757187297,
            -0.9565413941991889
        ],
        "target_point_next": [
            16.58924757187297,
            -0.9565413941991889
        ]
    },
    "860": {
        "acceleration": [
            0.27878284454345703,
            -1.1231231689453125,
            0.012849045917391777
        ],
        "angular_velocity": [
            -1.8746676445007324,
            -0.33564993739128113,
            -0.7118089199066162
        ],
        "forward_vector": [
            -0.20378325879573822,
            0.9789901375770569,
            0.007114111445844173
        ],
        "right_vector": [
            -0.9790154695510864,
            -0.20378528535366058,
            -0.0004442820209078491
        ],
        "location": [
            926.4926147460938,
            3590.52001953125,
            370.8931579589844
        ],
        "rotation": [
            0.025456132367253304,
            0.40761199593544006,
            101.75858306884766
        ],
        "velocity": [
            -1.1053768396377563,
            5.382129192352295,
            0.001733493758365512
        ],
        "speed": 5.494467453791889,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 33.83323669433594,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                921.2203979492188,
                3623.93994140625,
                370.8750305175781
            ],
            "velocity": [
                -0.12714633345603943,
                0.788390576839447,
                0.0011085510486736894
            ],
            "speed_kmh": 2.874881472960559,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5626178979873657,
                "transform": {
                    "location": {
                        "x": 928.0408935546875,
                        "y": 3623.408447265625,
                        "z": 370.9178161621094
                    },
                    "rotation": {
                        "roll": 0.0007552370079793036,
                        "pitch": -0.25650089979171753,
                        "yaw": -80.30513000488281
                    }
                },
                "velocity": {
                    "x": 0.26383480429649353,
                    "y": -1.5401824712753296,
                    "z": 0.0018605708610266447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.231591108487919e-05,
                "transform": {
                    "location": {
                        "x": 929.876708984375,
                        "y": 3612.271240234375,
                        "z": 370.892578125
                    },
                    "rotation": {
                        "roll": 4.841998088522814e-05,
                        "pitch": 0.03869985044002533,
                        "yaw": -80.72599792480469
                    }
                },
                "velocity": {
                    "x": -5.548115950659849e-06,
                    "y": 5.356860128813423e-06,
                    "z": 3.1382169254356995e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009185964590869844,
                "transform": {
                    "location": {
                        "x": 932.7617797851562,
                        "y": 3614.771240234375,
                        "z": 370.8765869140625
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": 0.03107052855193615,
                        "yaw": -80.31130981445312
                    }
                },
                "velocity": {
                    "x": 0.00016155374760273844,
                    "y": 5.933931970503181e-05,
                    "z": 0.000902329571545124
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001166111251222901,
                "transform": {
                    "location": {
                        "x": 934.3438110351562,
                        "y": 3604.998779296875,
                        "z": 370.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0013807889772579074,
                        "pitch": 0.03818075358867645,
                        "yaw": -80.78102111816406
                    }
                },
                "velocity": {
                    "x": 6.949414910195628e-06,
                    "y": 2.326956064280239e-06,
                    "z": -0.00011638060095719993
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001634191139601171,
                "transform": {
                    "location": {
                        "x": 931.431396484375,
                        "y": 3602.62841796875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.0011291492264717817,
                        "pitch": 0.03821490705013275,
                        "yaw": -80.89502716064453
                    }
                },
                "velocity": {
                    "x": -7.840207217668649e-06,
                    "y": -1.0183020094700623e-05,
                    "z": 0.0001629129983484745
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.15367667376995087,
                "transform": {
                    "location": {
                        "x": 935.923828125,
                        "y": 3595.048583984375,
                        "z": 370.8916320800781
                    },
                    "rotation": {
                        "roll": 0.0012179416371509433,
                        "pitch": 0.004624038003385067,
                        "yaw": -77.3847427368164
                    }
                },
                "velocity": {
                    "x": 0.025030700489878654,
                    "y": -0.15162059664726257,
                    "z": 0.001086111064068973
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.21772658824920654,
                "transform": {
                    "location": {
                        "x": 932.9361572265625,
                        "y": 3593.080810546875,
                        "z": 370.9026794433594
                    },
                    "rotation": {
                        "roll": -0.0022888188250362873,
                        "pitch": -0.02587958611547947,
                        "yaw": -81.98522186279297
                    }
                },
                "velocity": {
                    "x": 0.020246628671884537,
                    "y": -0.21678313612937927,
                    "z": 0.00012882232840638608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3174891471862793,
                "transform": {
                    "location": {
                        "x": 924.6797485351562,
                        "y": 3623.529296875,
                        "z": 370.8846740722656
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": 0.002335924655199051,
                        "yaw": 99.1395263671875
                    }
                },
                "velocity": {
                    "x": -0.05368195101618767,
                    "y": 0.31291788816452026,
                    "z": -3.551482950570062e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6038519144058228,
                "transform": {
                    "location": {
                        "x": 919.082275390625,
                        "y": 3637.28955078125,
                        "z": 370.86517333984375
                    },
                    "rotation": {
                        "roll": 9.623798541724682e-05,
                        "pitch": -0.037258680909872055,
                        "yaw": 99.26821899414062
                    }
                },
                "velocity": {
                    "x": -0.09529653936624527,
                    "y": 0.5962813496589661,
                    "z": -0.002055759308859706
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7985782027244568,
                "transform": {
                    "location": {
                        "x": 921.2203979492188,
                        "y": 3623.93994140625,
                        "z": 370.8750305175781
                    },
                    "rotation": {
                        "roll": -0.000427247112384066,
                        "pitch": -0.04440305754542351,
                        "yaw": 99.24153900146484
                    }
                },
                "velocity": {
                    "x": -0.12714633345603943,
                    "y": 0.788390576839447,
                    "z": 0.0011085510486736894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030022621154785,
                "transform": {
                    "location": {
                        "x": 929.1522216796875,
                        "y": 3595.109619140625,
                        "z": 370.89459228515625
                    },
                    "rotation": {
                        "roll": 0.0019778169225901365,
                        "pitch": -0.010866830125451088,
                        "yaw": 99.16045379638672
                    }
                },
                "velocity": {
                    "x": -1.2763760089874268,
                    "y": 7.9279327392578125,
                    "z": -0.0019725512247532606
                },
                "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": -0.3175685703754425,
        "expert_target_speed": 6.4755614689262995,
        "target_point": [
            15.217261372468462,
            -0.901015891291594
        ],
        "target_point_next": [
            15.217261372468462,
            -0.901015891291594
        ]
    },
    "865": {
        "acceleration": [
            -1.1879825592041016,
            7.194833755493164,
            0.0028284057043492794
        ],
        "angular_velocity": [
            1.5829633474349976,
            0.15613296627998352,
            -1.6121402978897095
        ],
        "forward_vector": [
            -0.19914939999580383,
            0.9799646139144897,
            0.002971644513309002
        ],
        "right_vector": [
            -0.9799690842628479,
            -0.19914773106575012,
            -0.0008474019705317914
        ],
        "location": [
            926.2201538085938,
            3591.86669921875,
            370.8941955566406
        ],
        "rotation": [
            0.048552777618169785,
            0.17026294767856598,
            101.48727416992188
        ],
        "velocity": [
            -1.12926185131073,
            5.725235462188721,
            0.0020211886148899794
        ],
        "speed": 5.835542256408485,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 32.7640266418457,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                921.172119140625,
                3624.239501953125,
                370.874755859375
            ],
            "velocity": [
                -0.2591901421546936,
                1.6097031831741333,
                -0.002224493073299527
            ],
            "speed_kmh": 5.869577621635463,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2098796367645264,
                "transform": {
                    "location": {
                        "x": 928.0667724609375,
                        "y": 3623.2548828125,
                        "z": 370.91650390625
                    },
                    "rotation": {
                        "roll": 0.002677466720342636,
                        "pitch": -0.08086943626403809,
                        "yaw": -80.29656219482422
                    }
                },
                "velocity": {
                    "x": 0.1986219435930252,
                    "y": -1.193463921546936,
                    "z": 0.001411008764989674
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.475351594621316e-05,
                "transform": {
                    "location": {
                        "x": 929.876708984375,
                        "y": 3612.271240234375,
                        "z": 370.892578125
                    },
                    "rotation": {
                        "roll": 0.00013706738536711782,
                        "pitch": 0.03862471878528595,
                        "yaw": -80.72599792480469
                    }
                },
                "velocity": {
                    "x": -7.685091986786574e-06,
                    "y": -7.763020221318584e-06,
                    "z": 7.395108696073294e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000734424393158406,
                "transform": {
                    "location": {
                        "x": 932.7618408203125,
                        "y": 3614.771240234375,
                        "z": 370.8765563964844
                    },
                    "rotation": {
                        "roll": -0.00021362352708820254,
                        "pitch": 0.03673958405852318,
                        "yaw": -80.31135559082031
                    }
                },
                "velocity": {
                    "x": -6.749216845491901e-05,
                    "y": -7.077120045551055e-08,
                    "z": 0.0007313166279345751
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.07277707010507584,
                "transform": {
                    "location": {
                        "x": 934.344482421875,
                        "y": 3604.994873046875,
                        "z": 370.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0004903763183392584,
                        "pitch": 0.039792679250240326,
                        "yaw": -80.78504180908203
                    }
                },
                "velocity": {
                    "x": 0.011920483782887459,
                    "y": -0.07179249823093414,
                    "z": -0.000491294835228473
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.003969641402363777,
                "transform": {
                    "location": {
                        "x": 931.43115234375,
                        "y": 3602.629638671875,
                        "z": 370.8996276855469
                    },
                    "rotation": {
                        "roll": -0.00021362188272178173,
                        "pitch": 0.037839245051145554,
                        "yaw": -80.89456939697266
                    }
                },
                "velocity": {
                    "x": 0.0006581503548659384,
                    "y": -0.003899900009855628,
                    "z": 0.0003401088761165738
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5588390827178955,
                "transform": {
                    "location": {
                        "x": 935.9386596679688,
                        "y": 3594.9697265625,
                        "z": 370.8916015625
                    },
                    "rotation": {
                        "roll": 0.0034354212693870068,
                        "pitch": 0.014377547428011894,
                        "yaw": -77.50730895996094
                    }
                },
                "velocity": {
                    "x": 0.09475982189178467,
                    "y": -0.5507453680038452,
                    "z": 0.0011187457712367177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.02093505859375,
                "transform": {
                    "location": {
                        "x": 932.9501342773438,
                        "y": 3592.926513671875,
                        "z": 370.9031066894531
                    },
                    "rotation": {
                        "roll": -0.010681147687137127,
                        "pitch": -0.07953071594238281,
                        "yaw": -82.2400894165039
                    }
                },
                "velocity": {
                    "x": 0.07913005352020264,
                    "y": -1.0178636312484741,
                    "z": -0.0005897331284359097
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1893486976623535,
                "transform": {
                    "location": {
                        "x": 924.647216796875,
                        "y": 3623.723388671875,
                        "z": 370.8833923339844
                    },
                    "rotation": {
                        "roll": -0.005035389680415392,
                        "pitch": 0.15893849730491638,
                        "yaw": 99.21989440917969
                    }
                },
                "velocity": {
                    "x": -0.20032106339931488,
                    "y": 1.1723558902740479,
                    "z": -0.0018502806778997183
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.357903242111206,
                "transform": {
                    "location": {
                        "x": 919.0414428710938,
                        "y": 3637.540771484375,
                        "z": 370.8648376464844
                    },
                    "rotation": {
                        "roll": 0.00045879502431489527,
                        "pitch": -0.03137105703353882,
                        "yaw": 99.26763153076172
                    }
                },
                "velocity": {
                    "x": -0.2185876965522766,
                    "y": 1.3401925563812256,
                    "z": -0.0020873737521469593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.630438208580017,
                "transform": {
                    "location": {
                        "x": 921.172119140625,
                        "y": 3624.239501953125,
                        "z": 370.874755859375
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.02093452773988247,
                        "yaw": 99.26719665527344
                    }
                },
                "velocity": {
                    "x": -0.2591901421546936,
                    "y": 1.6097031831741333,
                    "z": -0.002224493073299527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019600868225098,
                "transform": {
                    "location": {
                        "x": 928.8335571289062,
                        "y": 3597.0888671875,
                        "z": 370.8939514160156
                    },
                    "rotation": {
                        "roll": 0.0004913242300972342,
                        "pitch": -0.027252452448010445,
                        "yaw": 99.12850189208984
                    }
                },
                "velocity": {
                    "x": -1.2742303609848022,
                    "y": 7.917722702026367,
                    "z": -0.002145795850083232
                },
                "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": -0.3526373505592346,
        "expert_target_speed": 6.775294149257034,
        "target_point": [
            13.847391909892936,
            -0.8277669716347285
        ],
        "target_point_next": [
            13.847391909892936,
            -0.8277669716347285
        ]
    },
    "870": {
        "acceleration": [
            -0.6242632865905762,
            4.897851943969727,
            -0.00032005365937948227
        ],
        "angular_velocity": [
            0.3656982481479645,
            -0.07281733304262161,
            -2.363960027694702
        ],
        "forward_vector": [
            -0.19064576923847198,
            0.981620728969574,
            0.008662354201078415
        ],
        "right_vector": [
            -0.9816588759422302,
            -0.19064055383205414,
            -0.0014323904179036617
        ],
        "location": [
            925.898193359375,
            3593.531494140625,
            370.8929748535156
        ],
        "rotation": [
            0.08207302540540695,
            0.49632251262664795,
            100.99089050292969
        ],
        "velocity": [
            -1.365261197090149,
            7.267151832580566,
            -0.0015647411346435547
        ],
        "speed": 7.394283866207674,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 31.565162658691406,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                921.093017578125,
                3624.728759765625,
                370.8743591308594
            ],
            "velocity": [
                -0.33777186274528503,
                2.0984466075897217,
                -0.0013243103167042136
            ],
            "speed_kmh": 7.651647140292539,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2455921173095703,
                "transform": {
                    "location": {
                        "x": 928.141357421875,
                        "y": 3622.80859375,
                        "z": 370.9151916503906
                    },
                    "rotation": {
                        "roll": 0.002187378704547882,
                        "pitch": 0.10987041890621185,
                        "yaw": -80.3508071899414
                    }
                },
                "velocity": {
                    "x": 0.3682733476161957,
                    "y": -2.2151875495910645,
                    "z": 0.001626348472200334
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.747531526547391e-06,
                "transform": {
                    "location": {
                        "x": 929.876708984375,
                        "y": 3612.271240234375,
                        "z": 370.892578125
                    },
                    "rotation": {
                        "roll": 0.00013706738536711782,
                        "pitch": 0.03862471878528595,
                        "yaw": -80.72599792480469
                    }
                },
                "velocity": {
                    "x": 7.797742682669195e-07,
                    "y": 1.64819880410505e-06,
                    "z": 7.5299167292541824e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0017470235470682383,
                "transform": {
                    "location": {
                        "x": 932.7618408203125,
                        "y": 3614.771240234375,
                        "z": 370.8765563964844
                    },
                    "rotation": {
                        "roll": 0.0005898226518183947,
                        "pitch": 0.03806464374065399,
                        "yaw": -80.31130981445312
                    }
                },
                "velocity": {
                    "x": 7.788659104335238e-07,
                    "y": 1.2673856417677598e-06,
                    "z": 0.0017470229649916291
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4379114806652069,
                "transform": {
                    "location": {
                        "x": 934.352294921875,
                        "y": 3604.9453125,
                        "z": 370.8870544433594
                    },
                    "rotation": {
                        "roll": 0.0004522416857071221,
                        "pitch": 0.04960083216428757,
                        "yaw": -80.77574157714844
                    }
                },
                "velocity": {
                    "x": 0.06984976679086685,
                    "y": -0.43230482935905457,
                    "z": 1.738548235152848e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01678328402340412,
                "transform": {
                    "location": {
                        "x": 931.4314575195312,
                        "y": 3602.6279296875,
                        "z": 370.89959716796875
                    },
                    "rotation": {
                        "roll": -0.00042724545346572995,
                        "pitch": 0.04367222636938095,
                        "yaw": -80.8946762084961
                    }
                },
                "velocity": {
                    "x": 0.002578777726739645,
                    "y": -0.016575036570429802,
                    "z": 0.0005446815630421042
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1272817850112915,
                "transform": {
                    "location": {
                        "x": 935.9780883789062,
                        "y": 3594.759521484375,
                        "z": 370.89154052734375
                    },
                    "rotation": {
                        "roll": 0.003302806755527854,
                        "pitch": 0.017089132219552994,
                        "yaw": -77.88382720947266
                    }
                },
                "velocity": {
                    "x": 0.18854577839374542,
                    "y": -1.1114009618759155,
                    "z": 0.0015772246988490224
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8913261890411377,
                "transform": {
                    "location": {
                        "x": 932.982421875,
                        "y": 3592.561767578125,
                        "z": 370.9031982421875
                    },
                    "rotation": {
                        "roll": -0.01083373837172985,
                        "pitch": -0.09399022907018661,
                        "yaw": -82.78557586669922
                    }
                },
                "velocity": {
                    "x": 0.14178425073623657,
                    "y": -1.8860032558441162,
                    "z": -0.0018730926094576716
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.223632335662842,
                "transform": {
                    "location": {
                        "x": 924.580322265625,
                        "y": 3624.12158203125,
                        "z": 370.8826904296875
                    },
                    "rotation": {
                        "roll": -0.0066528297029435635,
                        "pitch": 0.19659332931041718,
                        "yaw": 99.3495864868164
                    }
                },
                "velocity": {
                    "x": -0.37535396218299866,
                    "y": 2.1917223930358887,
                    "z": -0.001823263126425445
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2252252101898193,
                "transform": {
                    "location": {
                        "x": 918.9688110351562,
                        "y": 3637.98828125,
                        "z": 370.8644714355469
                    },
                    "rotation": {
                        "roll": 0.00020820405916310847,
                        "pitch": -0.029417622834444046,
                        "yaw": 99.25586700439453
                    }
                },
                "velocity": {
                    "x": -0.35606083273887634,
                    "y": 2.1965527534484863,
                    "z": -0.001919870381243527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.125457525253296,
                "transform": {
                    "location": {
                        "x": 921.093017578125,
                        "y": 3624.728759765625,
                        "z": 370.8743591308594
                    },
                    "rotation": {
                        "roll": -0.0006408705376088619,
                        "pitch": -0.022669397294521332,
                        "yaw": 99.2371597290039
                    }
                },
                "velocity": {
                    "x": -0.33777186274528503,
                    "y": 2.0984466075897217,
                    "z": -0.0013243103167042136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.543960571289062,
                "transform": {
                    "location": {
                        "x": 928.5078735351562,
                        "y": 3599.113037109375,
                        "z": 370.8926086425781
                    },
                    "rotation": {
                        "roll": 6.302593101281673e-05,
                        "pitch": 0.10051988810300827,
                        "yaw": 99.15572357177734
                    }
                },
                "velocity": {
                    "x": -1.3577643632888794,
                    "y": 8.435385704040527,
                    "z": -0.003421201603487134
                },
                "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": -0.3396354913711548,
        "expert_target_speed": 8.049023088603276,
        "target_point": [
            12.158402659225823,
            -0.7064216933606489
        ],
        "target_point_next": [
            12.158402659225823,
            -0.7064216933606489
        ]
    },
    "875": {
        "acceleration": [
            0.5291509628295898,
            -0.1462554931640625,
            -0.018162725493311882
        ],
        "angular_velocity": [
            -1.1528788805007935,
            -0.42142993211746216,
            -3.513357639312744
        ],
        "forward_vector": [
            -0.17753300070762634,
            0.9840788841247559,
            0.008411070331931114
        ],
        "right_vector": [
            -0.9841144680976868,
            -0.17751896381378174,
            -0.0023921469692140818
        ],
        "location": [
            925.5400390625,
            3595.505859375,
            370.89251708984375
        ],
        "rotation": [
            0.13706490397453308,
            0.48192447423934937,
            100.2264633178711
        ],
        "velocity": [
            -1.4334298372268677,
            8.27094554901123,
            -0.0027211473789066076
        ],
        "speed": 8.394239773377988,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 29.801179885864258,
        "front_vehicle_info": {
            "id": 4819,
            "type": "vehicle.ford.mustang",
            "location": [
                921.0545043945312,
                3624.967529296875,
                370.8747253417969
            ],
            "velocity": [
                -0.026534590870141983,
                0.1675618588924408,
                -0.0011783026857301593
            ],
            "speed_kmh": 0.6107540790457352,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4863,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015544681809842587,
                "transform": {
                    "location": {
                        "x": 928.2014770507812,
                        "y": 3622.44189453125,
                        "z": 370.9175720214844
                    },
                    "rotation": {
                        "roll": -0.0006103498162701726,
                        "pitch": -0.13757365942001343,
                        "yaw": -80.28227233886719
                    }
                },
                "velocity": {
                    "x": -8.292114216601476e-05,
                    "y": -0.0010526184923946857,
                    "z": 0.001140828593634069
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4861,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.565463991137221e-05,
                "transform": {
                    "location": {
                        "x": 929.876708984375,
                        "y": 3612.271240234375,
                        "z": 370.892578125
                    },
                    "rotation": {
                        "roll": 0.00018755008932203054,
                        "pitch": 0.03861788660287857,
                        "yaw": -80.72599792480469
                    }
                },
                "velocity": {
                    "x": -6.599781954719219e-06,
                    "y": -6.568492153746774e-06,
                    "z": -6.499099254142493e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4860,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007656757952645421,
                "transform": {
                    "location": {
                        "x": 932.7618408203125,
                        "y": 3614.771240234375,
                        "z": 370.8765563964844
                    },
                    "rotation": {
                        "roll": -0.0007629385800100863,
                        "pitch": 0.03832418844103813,
                        "yaw": -80.31130981445312
                    }
                },
                "velocity": {
                    "x": -2.579831061666482e-06,
                    "y": -3.4740940009214683e-06,
                    "z": 0.0007656635716557503
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4856,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0355708599090576,
                "transform": {
                    "location": {
                        "x": 934.380859375,
                        "y": 3604.766845703125,
                        "z": 370.8870544433594
                    },
                    "rotation": {
                        "roll": 0.0005041702534072101,
                        "pitch": 0.05731894448399544,
                        "yaw": -80.7304458618164
                    }
                },
                "velocity": {
                    "x": 0.16545377671718597,
                    "y": -1.0222667455673218,
                    "z": 0.0017012977041304111
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4855,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6434882283210754,
                "transform": {
                    "location": {
                        "x": 931.4498901367188,
                        "y": 3602.513671875,
                        "z": 370.8986511230469
                    },
                    "rotation": {
                        "roll": -0.0009155293228104711,
                        "pitch": 0.16552279889583588,
                        "yaw": -80.90092468261719
                    }
                },
                "velocity": {
                    "x": 0.10260984301567078,
                    "y": -0.6352517008781433,
                    "z": 0.001901865005493164
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4854,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6480824947357178,
                "transform": {
                    "location": {
                        "x": 936.0399169921875,
                        "y": 3594.417724609375,
                        "z": 370.8916320800781
                    },
                    "rotation": {
                        "roll": 0.003738196799531579,
                        "pitch": 0.01425460446625948,
                        "yaw": -78.28854370117188
                    }
                },
                "velocity": {
                    "x": 0.2747669517993927,
                    "y": -1.6250160932540894,
                    "z": 0.001365451724268496
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4853,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.752922534942627,
                "transform": {
                    "location": {
                        "x": 933.0322265625,
                        "y": 3591.979248046875,
                        "z": 370.903076171875
                    },
                    "rotation": {
                        "roll": -0.00988769344985485,
                        "pitch": -0.09771951287984848,
                        "yaw": -83.50505828857422
                    }
                },
                "velocity": {
                    "x": 0.20624001324176788,
                    "y": -2.745185375213623,
                    "z": -0.0022305678576231003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4849,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.90641450881958,
                "transform": {
                    "location": {
                        "x": 924.4534301757812,
                        "y": 3624.867431640625,
                        "z": 370.8810729980469
                    },
                    "rotation": {
                        "roll": -0.007232686970382929,
                        "pitch": 0.3261483311653137,
                        "yaw": 99.46456146240234
                    }
                },
                "velocity": {
                    "x": -0.6599802374839783,
                    "y": 3.850259304046631,
                    "z": -0.00217858306132257
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9611072540283203,
                "transform": {
                    "location": {
                        "x": 918.8644409179688,
                        "y": 3638.631591796875,
                        "z": 370.8638916015625
                    },
                    "rotation": {
                        "roll": 0.00041004150989465415,
                        "pitch": -0.029697660356760025,
                        "yaw": 99.23770141601562
                    }
                },
                "velocity": {
                    "x": -0.4734073877334595,
                    "y": 2.923018217086792,
                    "z": -0.0024418162647634745
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.16965390741825104,
                "transform": {
                    "location": {
                        "x": 921.0545043945312,
                        "y": 3624.967529296875,
                        "z": 370.8747253417969
                    },
                    "rotation": {
                        "roll": -0.0006408744375221431,
                        "pitch": -0.07980392873287201,
                        "yaw": 99.2232437133789
                    }
                },
                "velocity": {
                    "x": -0.026534590870141983,
                    "y": 0.1675618588924408,
                    "z": -0.0011783026857301593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4816,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.607715606689453,
                "transform": {
                    "location": {
                        "x": 928.1541748046875,
                        "y": 3601.310791015625,
                        "z": 370.8906555175781
                    },
                    "rotation": {
                        "roll": 0.0034961309283971786,
                        "pitch": 0.3007810115814209,
                        "yaw": 99.10859680175781
                    }
                },
                "velocity": {
                    "x": -1.5233205556869507,
                    "y": 9.48618221282959,
                    "z": -0.005876445677131414
                },
                "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": -0.3017064332962036,
        "expert_target_speed": 8.749746408708509,
        "target_point": [
            10.160158907503929,
            -0.5460844904525102
        ],
        "target_point_next": [
            10.160158907503929,
            -0.5460844904525102
        ]
    }
}