{
    "0": {
        "acceleration": [
            -0.002092418260872364,
            0.009620320051908493,
            -0.568501353263855
        ],
        "angular_velocity": [
            0.045656148344278336,
            0.010026800446212292,
            -7.744652248220518e-05
        ],
        "forward_vector": [
            0.001927997567690909,
            -0.9998493194580078,
            -0.017250992357730865
        ],
        "right_vector": [
            0.999998152256012,
            0.0019277699757367373,
            2.9821878342772834e-05
        ],
        "location": [
            1984.9815673828125,
            2129.728759765625,
            361.3854064941406
        ],
        "rotation": [
            -0.0017089220928028226,
            -0.9884580969810486,
            -89.88951873779297
        ],
        "velocity": [
            0.0001600083487574011,
            -0.0037254025228321552,
            0.20649264752864838
        ],
        "speed": 0.0037288371684475923,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.002034303266555071,
        "expert_target_speed": 1.4044795151676437,
        "target_point": [
            51.0020479896419,
            0.0019384826405456496
        ],
        "target_point_next": [
            55.469349069251955,
            -0.12296495114867186
        ]
    },
    "5": {
        "acceleration": [
            -0.002049265429377556,
            0.007062521763145924,
            -0.39153575897216797
        ],
        "angular_velocity": [
            0.01924668438732624,
            -0.0017781323986127973,
            -0.0002259415341541171
        ],
        "forward_vector": [
            0.0019262045389041305,
            -0.9998466372489929,
            -0.01740713231265545
        ],
        "right_vector": [
            0.999998152256012,
            0.0019261162960901856,
            2.183485594287049e-05
        ],
        "location": [
            1984.9815673828125,
            2129.728759765625,
            361.4178466796875
        ],
        "rotation": [
            -0.0012512346729636192,
            -0.9974056482315063,
            -89.88961791992188
        ],
        "velocity": [
            -1.540811535960529e-05,
            -0.0013300820719450712,
            0.07188635319471359
        ],
        "speed": 0.001330171315330709,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.002439498901367,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.0106201171875,
                2114.728271484375,
                361.1776428222656
            ],
            "velocity": [
                0.00024678881163708866,
                0.005943299271166325,
                -0.3595050275325775
            ],
            "speed_kmh": 1.2943952491324202,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.361389398574829,
                "transform": {
                    "location": {
                        "x": 1982.335693359375,
                        "y": 2075.721435546875,
                        "z": 360.6529541015625
                    },
                    "rotation": {
                        "roll": -9.155076259048656e-05,
                        "pitch": 0.8564578890800476,
                        "yaw": 90.11052703857422
                    }
                },
                "velocity": {
                    "x": 0.0002471531042829156,
                    "y": -0.0013121813535690308,
                    "z": -2.361388921737671
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3609869182109833,
                "transform": {
                    "location": {
                        "x": 1984.923583984375,
                        "y": 2159.72802734375,
                        "z": 361.9671936035156
                    },
                    "rotation": {
                        "roll": 0.00013443920761346817,
                        "pitch": -1.065086007118225,
                        "yaw": -89.88931274414062
                    }
                },
                "velocity": {
                    "x": -0.0003466673078946769,
                    "y": 0.006638471968472004,
                    "z": -0.36092570424079895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43190455436706543,
                "transform": {
                    "location": {
                        "x": 1984.9525146484375,
                        "y": 2144.728271484375,
                        "z": 361.7040100097656
                    },
                    "rotation": {
                        "roll": -0.00021358478988986462,
                        "pitch": -1.0322532653808594,
                        "yaw": -89.88927459716797
                    }
                },
                "velocity": {
                    "x": -0.00022248193272389472,
                    "y": 0.007409614976495504,
                    "z": -0.4318409264087677
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.359554260969162,
                "transform": {
                    "location": {
                        "x": 1985.0106201171875,
                        "y": 2114.728271484375,
                        "z": 361.1776428222656
                    },
                    "rotation": {
                        "roll": -0.001708967611193657,
                        "pitch": -0.9731448292732239,
                        "yaw": -89.88932037353516
                    }
                },
                "velocity": {
                    "x": 0.00024678881163708866,
                    "y": 0.005943299271166325,
                    "z": -0.3595050275325775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3552967607975006,
                "transform": {
                    "location": {
                        "x": 1985.039306640625,
                        "y": 2099.72802734375,
                        "z": 360.93505859375
                    },
                    "rotation": {
                        "roll": 0.0013021158520132303,
                        "pitch": -0.9106144309043884,
                        "yaw": -89.88935089111328
                    }
                },
                "velocity": {
                    "x": -0.00023890759621281177,
                    "y": 0.005545016378164291,
                    "z": -0.3552533984184265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.001430335221812129,
        "expert_target_speed": 1.0778737337580169,
        "target_point": [
            51.00204790226185,
            0.0035596120001466364
        ],
        "target_point_next": [
            55.469352949742515,
            -0.12120182599779943
        ]
    },
    "10": {
        "acceleration": [
            0.0021006495226174593,
            0.0025518382899463177,
            -0.13839863240718842
        ],
        "angular_velocity": [
            0.003625687910243869,
            0.00877857580780983,
            -2.4668886908330023e-05
        ],
        "forward_vector": [
            0.001925606862641871,
            -0.9998457431793213,
            -0.01745874248445034
        ],
        "right_vector": [
            0.999998152256012,
            0.0019257236272096634,
            1.0117887541127857e-05
        ],
        "location": [
            1984.9815673828125,
            2129.728759765625,
            361.42767333984375
        ],
        "rotation": [
            -0.0005798006313852966,
            -1.0003631114959717,
            -89.88965606689453
        ],
        "velocity": [
            6.001441943226382e-05,
            -0.00036782011738978326,
            0.018764756619930267
        ],
        "speed": 0.00037268400729897926,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.002728462219238,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.0106201171875,
                2114.728271484375,
                361.1700744628906
            ],
            "velocity": [
                4.8566918849246576e-05,
                -0.0007628725143149495,
                0.043884292244911194
            ],
            "speed_kmh": 0.15800741783270486,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09499248117208481,
                "transform": {
                    "location": {
                        "x": 1982.335693359375,
                        "y": 2075.7236328125,
                        "z": 360.5094299316406
                    },
                    "rotation": {
                        "roll": -0.001129166572354734,
                        "pitch": 0.8728639483451843,
                        "yaw": 90.11197662353516
                    }
                },
                "velocity": {
                    "x": -0.00012093118129996583,
                    "y": -0.0014475645730271935,
                    "z": 0.0949813723564148
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04441448301076889,
                "transform": {
                    "location": {
                        "x": 1984.9237060546875,
                        "y": 2159.728271484375,
                        "z": 361.9595642089844
                    },
                    "rotation": {
                        "roll": -0.0011291508562862873,
                        "pitch": -1.0657280683517456,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.00027031931676901877,
                    "y": -0.0008838236099109054,
                    "z": 0.04440486431121826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027099374681711197,
                "transform": {
                    "location": {
                        "x": 1984.9525146484375,
                        "y": 2144.728759765625,
                        "z": 361.6800842285156
                    },
                    "rotation": {
                        "roll": -0.0012512510875239968,
                        "pitch": -1.0393975973129272,
                        "yaw": -89.88935089111328
                    }
                },
                "velocity": {
                    "x": -0.00021299792570061982,
                    "y": -0.0005290816770866513,
                    "z": 0.027093371376395226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.043890949338674545,
                "transform": {
                    "location": {
                        "x": 1985.0106201171875,
                        "y": 2114.728271484375,
                        "z": 361.1700744628906
                    },
                    "rotation": {
                        "roll": -0.0018615490989759564,
                        "pitch": -0.9746406078338623,
                        "yaw": -89.88934326171875
                    }
                },
                "velocity": {
                    "x": 4.8566918849246576e-05,
                    "y": -0.0007628725143149495,
                    "z": 0.043884292244911194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04415608197450638,
                "transform": {
                    "location": {
                        "x": 1985.039306640625,
                        "y": 2099.72802734375,
                        "z": 360.9276123046875
                    },
                    "rotation": {
                        "roll": 0.0008455029455944896,
                        "pitch": -0.9115911722183228,
                        "yaw": -89.88934326171875
                    }
                },
                "velocity": {
                    "x": 0.00018894266395363957,
                    "y": -0.0007536676130257547,
                    "z": 0.0441492460668087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0005589721258729696,
        "expert_target_speed": 1.0253281135218872,
        "target_point": [
            51.0020479896419,
            0.0019384826405456496
        ],
        "target_point_next": [
            55.469349069251955,
            -0.12296495114867186
        ]
    },
    "15": {
        "acceleration": [
            0.0001839785254560411,
            0.00032016338082030416,
            -0.023853406310081482
        ],
        "angular_velocity": [
            0.009039029479026794,
            0.0009594029397703707,
            -0.00021848715550731868
        ],
        "forward_vector": [
            0.0019257254898548126,
            -0.9998454451560974,
            -0.017474237829446793
        ],
        "right_vector": [
            0.999998152256012,
            0.0019259823020547628,
            2.1299347281455994e-06
        ],
        "location": [
            1984.9815673828125,
            2129.728759765625,
            361.43011474609375
        ],
        "rotation": [
            -0.00012205490929773077,
            -1.001250982284546,
            -89.8896484375
        ],
        "velocity": [
            1.3604031892100465e-06,
            -0.00014245240890886635,
            0.004615636542439461
        ],
        "speed": 0.00014245890460331384,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.092512130737305,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.0118408203125,
                2114.638427734375,
                361.1753845214844
            ],
            "velocity": [
                0.01818559691309929,
                -1.1353553533554077,
                -0.007371301297098398
            ],
            "speed_kmh": 4.087889690552135,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9234676361083984,
                "transform": {
                    "location": {
                        "x": 1982.3350830078125,
                        "y": 2075.792236328125,
                        "z": 360.5432434082031
                    },
                    "rotation": {
                        "roll": -0.007293667644262314,
                        "pitch": 1.0903030633926392,
                        "yaw": 90.16166687011719
                    }
                },
                "velocity": {
                    "x": -0.011615810915827751,
                    "y": 0.9152944087982178,
                    "z": 0.1220395416021347
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0822598934173584,
                "transform": {
                    "location": {
                        "x": 1984.9246826171875,
                        "y": 2159.64306640625,
                        "z": 361.96484375
                    },
                    "rotation": {
                        "roll": -0.004455574322491884,
                        "pitch": -0.9273074269294739,
                        "yaw": -89.87777709960938
                    }
                },
                "velocity": {
                    "x": 0.013930867426097393,
                    "y": -1.0821439027786255,
                    "z": -0.007557992823421955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9393424987792969,
                "transform": {
                    "location": {
                        "x": 1984.9537353515625,
                        "y": 2144.657958984375,
                        "z": 361.68389892578125
                    },
                    "rotation": {
                        "roll": -0.012908882461488247,
                        "pitch": -0.8191514015197754,
                        "yaw": -89.88420867919922
                    }
                },
                "velocity": {
                    "x": 0.015857424587011337,
                    "y": -0.9391630291938782,
                    "z": 0.009255418553948402
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.135524868965149,
                "transform": {
                    "location": {
                        "x": 1985.0118408203125,
                        "y": 2114.638427734375,
                        "z": 361.1753845214844
                    },
                    "rotation": {
                        "roll": -0.007385270204395056,
                        "pitch": -0.8266850709915161,
                        "yaw": -89.82481384277344
                    }
                },
                "velocity": {
                    "x": 0.01818559691309929,
                    "y": -1.1353553533554077,
                    "z": -0.007371301297098398
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2767902612686157,
                "transform": {
                    "location": {
                        "x": 1985.0408935546875,
                        "y": 2099.614501953125,
                        "z": 360.9324645996094
                    },
                    "rotation": {
                        "roll": -0.008605972863733768,
                        "pitch": -0.706815242767334,
                        "yaw": -89.84015655517578
                    }
                },
                "velocity": {
                    "x": 0.019274666905403137,
                    "y": -1.2766203880310059,
                    "z": -0.00789547897875309
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0006122204940766096,
        "expert_target_speed": 1.0175997892900415,
        "target_point": [
            51.00204790226185,
            0.0035596120001466364
        ],
        "target_point_next": [
            55.469352949742515,
            -0.12120182599779943
        ]
    },
    "20": {
        "acceleration": [
            0.02891317382454872,
            -7.207009792327881,
            -0.12695370614528656
        ],
        "angular_velocity": [
            -1.9504562616348267,
            -0.04873700067400932,
            0.4268231987953186
        ],
        "forward_vector": [
            0.0023476283531636,
            -0.999881386756897,
            -0.015224105678498745
        ],
        "right_vector": [
            0.9999972581863403,
            0.0023476083297282457,
            1.9172204702044837e-05
        ],
        "location": [
            1984.9815673828125,
            2129.6962890625,
            361.4294738769531
        ],
        "rotation": [
            -0.0010986137203872204,
            -0.8723107576370239,
            -89.865478515625
        ],
        "velocity": [
            0.002485493430867791,
            -0.6384524703025818,
            -0.010100564919412136
        ],
        "speed": 0.6384573082932514,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.502717018127441,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.0189208984375,
                2114.19580078125,
                361.1692810058594
            ],
            "velocity": [
                0.03590068593621254,
                -2.296285629272461,
                -0.036226361989974976
            ],
            "speed_kmh": 8.268667035311674,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.883347988128662,
                "transform": {
                    "location": {
                        "x": 1982.3311767578125,
                        "y": 2076.155517578125,
                        "z": 360.56451416015625
                    },
                    "rotation": {
                        "roll": -0.011474579572677612,
                        "pitch": 1.2651764154434204,
                        "yaw": 90.3033447265625
                    }
                },
                "velocity": {
                    "x": -0.023801155388355255,
                    "y": 1.882117748260498,
                    "z": 0.06376518309116364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2309281826019287,
                "transform": {
                    "location": {
                        "x": 1984.93115234375,
                        "y": 2159.214599609375,
                        "z": 361.9582824707031
                    },
                    "rotation": {
                        "roll": -0.010742182843387127,
                        "pitch": -0.8858345150947571,
                        "yaw": -89.63687896728516
                    }
                },
                "velocity": {
                    "x": 0.03465534746646881,
                    "y": -2.2303073406219482,
                    "z": -0.03960415720939636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9535075426101685,
                "transform": {
                    "location": {
                        "x": 1984.95947265625,
                        "y": 2144.275146484375,
                        "z": 361.6808776855469
                    },
                    "rotation": {
                        "roll": -0.02340700477361679,
                        "pitch": -0.6242382526397705,
                        "yaw": -89.71305847167969
                    }
                },
                "velocity": {
                    "x": 0.0344637893140316,
                    "y": -1.9530620574951172,
                    "z": -0.023502416908740997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.296851873397827,
                "transform": {
                    "location": {
                        "x": 1985.0189208984375,
                        "y": 2114.19580078125,
                        "z": 361.1692810058594
                    },
                    "rotation": {
                        "roll": -0.012695313431322575,
                        "pitch": -0.7943031191825867,
                        "yaw": -89.58284759521484
                    }
                },
                "velocity": {
                    "x": 0.03590068593621254,
                    "y": -2.296285629272461,
                    "z": -0.036226361989974976
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6669464111328125,
                "transform": {
                    "location": {
                        "x": 1985.048095703125,
                        "y": 2099.11572265625,
                        "z": 360.9259338378906
                    },
                    "rotation": {
                        "roll": -0.0037536569871008396,
                        "pitch": -0.6318949460983276,
                        "yaw": -89.66439056396484
                    }
                },
                "velocity": {
                    "x": 0.023847544565796852,
                    "y": -2.666551351547241,
                    "z": -0.03921668604016304
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00024917273549363017,
        "expert_target_speed": 1.6549742288049194,
        "target_point": [
            50.96957307108427,
            -0.02096749814791507
        ],
        "target_point_next": [
            55.43681741445446,
            -0.14788392846579484
        ]
    },
    "25": {
        "acceleration": [
            0.02332751639187336,
            -2.729616165161133,
            -0.05458984524011612
        ],
        "angular_velocity": [
            -0.2801389694213867,
            0.008165208622813225,
            0.18395669758319855
        ],
        "forward_vector": [
            0.0025344290770590305,
            -0.999936580657959,
            -0.010974067263305187
        ],
        "right_vector": [
            0.9999967813491821,
            0.002533798338845372,
            7.136864587664604e-05
        ],
        "location": [
            1984.98291015625,
            2129.398681640625,
            361.4236755371094
        ],
        "rotation": [
            -0.004089368507266045,
            -0.6287803649902344,
            -89.85478210449219
        ],
        "velocity": [
            0.007369413040578365,
            -1.650115728378296,
            -0.027546711266040802
        ],
        "speed": 1.650132184187072,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.957366943359375,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.0264892578125,
                2113.443603515625,
                361.1568908691406
            ],
            "velocity": [
                0.038588352501392365,
                -3.7726125717163086,
                -0.0633239895105362
            ],
            "speed_kmh": 13.584028698405065,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.928417205810547,
                "transform": {
                    "location": {
                        "x": 1982.323974609375,
                        "y": 2076.7646484375,
                        "z": 360.5782470703125
                    },
                    "rotation": {
                        "roll": -0.008148199878633022,
                        "pitch": 1.3108634948730469,
                        "yaw": 90.47367095947266
                    }
                },
                "velocity": {
                    "x": -0.03788434714078903,
                    "y": 2.927686929702759,
                    "z": 0.05329751968383789
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8216404914855957,
                "transform": {
                    "location": {
                        "x": 1984.93896484375,
                        "y": 2158.459716796875,
                        "z": 361.94451904296875
                    },
                    "rotation": {
                        "roll": -0.006835930980741978,
                        "pitch": -0.8196704387664795,
                        "yaw": -89.5367431640625
                    }
                },
                "velocity": {
                    "x": 0.03850351274013519,
                    "y": -3.8208138942718506,
                    "z": -0.06952663511037827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0633533000946045,
                "transform": {
                    "location": {
                        "x": 1984.96630859375,
                        "y": 2143.656494140625,
                        "z": 361.6712341308594
                    },
                    "rotation": {
                        "roll": -0.006866432260721922,
                        "pitch": -0.5851422548294067,
                        "yaw": -89.59185028076172
                    }
                },
                "velocity": {
                    "x": 0.03221451863646507,
                    "y": -3.062744617462158,
                    "z": -0.051874790340662
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.773341417312622,
                "transform": {
                    "location": {
                        "x": 1985.0264892578125,
                        "y": 2113.443603515625,
                        "z": 361.1568908691406
                    },
                    "rotation": {
                        "roll": -0.007659909315407276,
                        "pitch": -0.7480149269104004,
                        "yaw": -89.50463104248047
                    }
                },
                "velocity": {
                    "x": 0.038588352501392365,
                    "y": -3.7726125717163086,
                    "z": -0.0633239895105362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.303807258605957,
                "transform": {
                    "location": {
                        "x": 1985.056640625,
                        "y": 2098.232177734375,
                        "z": 360.9122314453125
                    },
                    "rotation": {
                        "roll": -0.006622318644076586,
                        "pitch": -0.5837625861167908,
                        "yaw": -89.55358123779297
                    }
                },
                "velocity": {
                    "x": 0.04353554546833038,
                    "y": -4.303037166595459,
                    "z": -0.06878440827131271
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0015388332540169358,
        "expert_target_speed": 2.6645598974949882,
        "target_point": [
            50.671958128014055,
            -0.03151816649535394
        ],
        "target_point_next": [
            55.13917757778328,
            -0.15930780324684007
        ]
    },
    "30": {
        "acceleration": [
            0.04868054762482643,
            -7.236356735229492,
            -0.11743426322937012
        ],
        "angular_velocity": [
            -0.9860183000564575,
            -0.027670729905366898,
            0.2361757606267929
        ],
        "forward_vector": [
            0.003328274702653289,
            -0.9999589920043945,
            -0.008419652469456196
        ],
        "right_vector": [
            0.9999944567680359,
            0.0033274509478360415,
            0.0001118485743063502
        ],
        "location": [
            1984.985595703125,
            2128.8193359375,
            361.41326904296875
        ],
        "rotation": [
            -0.006408678367733955,
            -0.4824162423610687,
            -89.80929565429688
        ],
        "velocity": [
            0.016137119382619858,
            -3.068373680114746,
            -0.05286377668380737
        ],
        "speed": 3.068416113802507,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.51165199279785,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.03857421875,
                2112.31005859375,
                361.1382751464844
            ],
            "velocity": [
                0.05610828846693039,
                -5.208693504333496,
                -0.08172077685594559
            ],
            "speed_kmh": 18.75469208596819,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.28572416305542,
                "transform": {
                    "location": {
                        "x": 1982.312744140625,
                        "y": 2077.674560546875,
                        "z": 360.5926818847656
                    },
                    "rotation": {
                        "roll": -0.0050660292617976665,
                        "pitch": 1.4179061651229858,
                        "yaw": 90.60276794433594
                    }
                },
                "velocity": {
                    "x": -0.05748846381902695,
                    "y": 4.2848286628723145,
                    "z": 0.0660877600312233
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.267325401306152,
                "transform": {
                    "location": {
                        "x": 1984.950927734375,
                        "y": 2157.3125,
                        "z": 361.92376708984375
                    },
                    "rotation": {
                        "roll": -0.010681108571588993,
                        "pitch": -0.8201895356178284,
                        "yaw": -89.444091796875
                    }
                },
                "velocity": {
                    "x": 0.056123629212379456,
                    "y": -5.266212463378906,
                    "z": -0.09260154515504837
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.483383655548096,
                "transform": {
                    "location": {
                        "x": 1984.9761962890625,
                        "y": 2142.70068359375,
                        "z": 361.6541442871094
                    },
                    "rotation": {
                        "roll": -0.011993402615189552,
                        "pitch": -0.46276578307151794,
                        "yaw": -89.49505615234375
                    }
                },
                "velocity": {
                    "x": 0.04840952903032303,
                    "y": -4.48242712020874,
                    "z": -0.07893942296504974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.209636688232422,
                "transform": {
                    "location": {
                        "x": 1985.03857421875,
                        "y": 2112.31005859375,
                        "z": 361.1382751464844
                    },
                    "rotation": {
                        "roll": -0.00976563710719347,
                        "pitch": -0.7279341816902161,
                        "yaw": -89.42876434326172
                    }
                },
                "velocity": {
                    "x": 0.05610828846693039,
                    "y": -5.208693504333496,
                    "z": -0.08172077685594559
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.491250038146973,
                "transform": {
                    "location": {
                        "x": 1985.06982421875,
                        "y": 2096.97900390625,
                        "z": 360.8928527832031
                    },
                    "rotation": {
                        "roll": -0.011047347448766232,
                        "pitch": -0.6408356428146362,
                        "yaw": -89.4586181640625
                    }
                },
                "velocity": {
                    "x": 0.06083202362060547,
                    "y": -5.490218162536621,
                    "z": -0.08735119551420212
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.003988413140177727,
        "expert_target_speed": 4.06148843611992,
        "target_point": [
            50.092564506290174,
            -0.07332405733823359
        ],
        "target_point_next": [
            54.559678940959145,
            -0.20473346046297983
        ]
    },
    "35": {
        "acceleration": [
            0.06805151700973511,
            -6.949825286865234,
            -0.1167181134223938
        ],
        "angular_velocity": [
            -0.38210585713386536,
            -0.02024995908141136,
            0.352207750082016
        ],
        "forward_vector": [
            0.004621030297130346,
            -0.9999768137931824,
            -0.005001523531973362
        ],
        "right_vector": [
            0.9999893307685852,
            0.0046200198121368885,
            0.0002135829854523763
        ],
        "location": [
            1984.9912109375,
            2127.81005859375,
            361.3952331542969
        ],
        "rotation": [
            -0.012237557210028172,
            -0.2865673899650574,
            -89.7352294921875
        ],
        "velocity": [
            0.03100142627954483,
            -4.874684810638428,
            -0.0844959020614624
        ],
        "speed": 4.874783389187705,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.869136810302734,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.0538330078125,
                2110.943359375,
                361.1153869628906
            ],
            "velocity": [
                0.06138814240694046,
                -5.5818963050842285,
                -0.09258212149143219
            ],
            "speed_kmh": 20.098805582146777,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.324070930480957,
                "transform": {
                    "location": {
                        "x": 1982.2962646484375,
                        "y": 2078.906494140625,
                        "z": 360.6116638183594
                    },
                    "rotation": {
                        "roll": 0.0004867997777182609,
                        "pitch": 1.416949987411499,
                        "yaw": 90.71111297607422
                    }
                },
                "velocity": {
                    "x": -0.07385791838169098,
                    "y": 5.322940349578857,
                    "z": 0.08112622797489166
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.546969890594482,
                "transform": {
                    "location": {
                        "x": 1984.9661865234375,
                        "y": 2155.947021484375,
                        "z": 361.8987121582031
                    },
                    "rotation": {
                        "roll": -0.009368911385536194,
                        "pitch": -0.9571211934089661,
                        "yaw": -89.38306427001953
                    }
                },
                "velocity": {
                    "x": 0.061731111258268356,
                    "y": -5.545681476593018,
                    "z": -0.10237058252096176
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.304821014404297,
                "transform": {
                    "location": {
                        "x": 1984.990234375,
                        "y": 2141.43310546875,
                        "z": 361.6324462890625
                    },
                    "rotation": {
                        "roll": -0.01376340538263321,
                        "pitch": -0.5358898043632507,
                        "yaw": -89.4190673828125
                    }
                },
                "velocity": {
                    "x": 0.058935072273015976,
                    "y": -5.3036956787109375,
                    "z": -0.09198983758687973
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.583001613616943,
                "transform": {
                    "location": {
                        "x": 1985.0538330078125,
                        "y": 2110.943359375,
                        "z": 361.1153869628906
                    },
                    "rotation": {
                        "roll": -0.010528557002544403,
                        "pitch": -0.8384398221969604,
                        "yaw": -89.3852767944336
                    }
                },
                "velocity": {
                    "x": 0.06138814240694046,
                    "y": -5.5818963050842285,
                    "z": -0.09258212149143219
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.703514099121094,
                "transform": {
                    "location": {
                        "x": 1985.0853271484375,
                        "y": 2095.57666015625,
                        "z": 360.8708190917969
                    },
                    "rotation": {
                        "roll": -0.005554170347750187,
                        "pitch": -0.7937567234039307,
                        "yaw": -89.49266815185547
                    }
                },
                "velocity": {
                    "x": 0.06084597855806351,
                    "y": -5.7025146484375,
                    "z": -0.08773194253444672
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.010516663081943989,
        "expert_target_speed": 5.752885538972927,
        "target_point": [
            49.08313821689198,
            -0.13798830114026372
        ],
        "target_point_next": [
            53.55008190249032,
            -0.2750791956252704
        ]
    },
    "40": {
        "acceleration": [
            0.024793967604637146,
            0.2777099609375,
            -0.0013582408428192139
        ],
        "angular_velocity": [
            1.9242064952850342,
            0.0494629442691803,
            0.38383036851882935
        ],
        "forward_vector": [
            0.0063642701134085655,
            -0.9999440312385559,
            -0.008446830324828625
        ],
        "right_vector": [
            0.9999796748161316,
            0.0063621485605835915,
            0.00027802400290966034
        ],
        "location": [
            1985.0006103515625,
            2126.44677734375,
            361.372802734375
        ],
        "rotation": [
            -0.015930170193314552,
            -0.48397350311279297,
            -89.63533782958984
        ],
        "velocity": [
            0.04351050406694412,
            -5.590343952178955,
            -0.09606185555458069
        ],
        "speed": 5.590513274076717,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.09966278076172,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.07177734375,
                2109.349609375,
                361.0895080566406
            ],
            "velocity": [
                0.0832638368010521,
                -7.483776092529297,
                -0.1214546263217926
            ],
            "speed_kmh": 26.946808892681407,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.978917598724365,
                "transform": {
                    "location": {
                        "x": 1982.2802734375,
                        "y": 2080.25439453125,
                        "z": 360.632568359375
                    },
                    "rotation": {
                        "roll": 0.028804326429963112,
                        "pitch": 1.1959865093231201,
                        "yaw": 90.65184020996094
                    }
                },
                "velocity": {
                    "x": -0.05451055243611336,
                    "y": 5.977999687194824,
                    "z": 0.08946744352579117
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.5533671379089355,
                "transform": {
                    "location": {
                        "x": 1984.984619140625,
                        "y": 2154.334228515625,
                        "z": 361.8693542480469
                    },
                    "rotation": {
                        "roll": -0.010955819860100746,
                        "pitch": -0.7831699252128601,
                        "yaw": -89.35411834716797
                    }
                },
                "velocity": {
                    "x": 0.08729469031095505,
                    "y": -7.551599502563477,
                    "z": -0.13813185691833496
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.38858699798584,
                "transform": {
                    "location": {
                        "x": 1985.0062255859375,
                        "y": 2140.02587890625,
                        "z": 361.60784912109375
                    },
                    "rotation": {
                        "roll": -0.01263431552797556,
                        "pitch": -0.5587367415428162,
                        "yaw": -89.37738037109375
                    }
                },
                "velocity": {
                    "x": 0.07197190821170807,
                    "y": -6.387206077575684,
                    "z": -0.11161629110574722
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.485224723815918,
                "transform": {
                    "location": {
                        "x": 1985.07177734375,
                        "y": 2109.349609375,
                        "z": 361.0895080566406
                    },
                    "rotation": {
                        "roll": -0.010772702284157276,
                        "pitch": -0.6744401454925537,
                        "yaw": -89.35639190673828
                    }
                },
                "velocity": {
                    "x": 0.0832638368010521,
                    "y": -7.483776092529297,
                    "z": -0.1214546263217926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.462184429168701,
                "transform": {
                    "location": {
                        "x": 1985.102783203125,
                        "y": 2093.87841796875,
                        "z": 360.844482421875
                    },
                    "rotation": {
                        "roll": 0.00042642842163331807,
                        "pitch": -0.5801084041595459,
                        "yaw": -89.46450805664062
                    }
                },
                "velocity": {
                    "x": 0.0655183419585228,
                    "y": -7.461002826690674,
                    "z": -0.115505151450634
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.022497480735182762,
        "expert_target_speed": 6.423676305495196,
        "target_point": [
            47.719506672893765,
            -0.22490563212224274
        ],
        "target_point_next": [
            52.186202680103435,
            -0.3698421107421126
        ]
    },
    "45": {
        "acceleration": [
            -0.23926883935928345,
            -7.067317962646484,
            -0.10845273733139038
        ],
        "angular_velocity": [
            -0.5607290863990784,
            0.22537969052791595,
            0.24575969576835632
        ],
        "forward_vector": [
            0.007939317263662815,
            -0.9999517202377319,
            -0.005789128132164478
        ],
        "right_vector": [
            0.9999684691429138,
            0.007938303053379059,
            0.00019813560356851667
        ],
        "location": [
            1985.0142822265625,
            2124.786865234375,
            361.34375
        ],
        "rotation": [
            -0.011352524161338806,
            -0.33169445395469666,
            -89.54509735107422
        ],
        "velocity": [
            0.054928429424762726,
            -7.520809650421143,
            -0.12958291172981262
        ],
        "speed": 7.521010233354749,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.387042999267578,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.0899658203125,
                2107.40234375,
                361.0575256347656
            ],
            "velocity": [
                0.06045259162783623,
                -7.66621208190918,
                -0.12537263333797455
            ],
            "speed_kmh": 27.602911789373604,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.465776443481445,
                "transform": {
                    "location": {
                        "x": 1982.265625,
                        "y": 2081.942138671875,
                        "z": 360.6568908691406
                    },
                    "rotation": {
                        "roll": 0.02457415871322155,
                        "pitch": 1.4469891786575317,
                        "yaw": 90.52163696289062
                    }
                },
                "velocity": {
                    "x": -0.061016764491796494,
                    "y": 7.464694023132324,
                    "z": 0.11153087019920349
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.236814498901367,
                "transform": {
                    "location": {
                        "x": 1985.00244140625,
                        "y": 2152.437744140625,
                        "z": 361.8343200683594
                    },
                    "rotation": {
                        "roll": 0.00010833970009116456,
                        "pitch": -1.020204782485962,
                        "yaw": -89.4671630859375
                    }
                },
                "velocity": {
                    "x": 0.05991426855325699,
                    "y": -7.235360622406006,
                    "z": -0.13209471106529236
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.140453815460205,
                "transform": {
                    "location": {
                        "x": 1985.023681640625,
                        "y": 2138.32080078125,
                        "z": 361.5781555175781
                    },
                    "rotation": {
                        "roll": 0.009734012186527252,
                        "pitch": -0.5724722743034363,
                        "yaw": -89.42010498046875
                    }
                },
                "velocity": {
                    "x": 0.058942001312971115,
                    "y": -7.139139652252197,
                    "z": -0.12366071343421936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.667475700378418,
                "transform": {
                    "location": {
                        "x": 1985.0899658203125,
                        "y": 2107.40234375,
                        "z": 361.0575256347656
                    },
                    "rotation": {
                        "roll": 0.002057634061202407,
                        "pitch": -0.8496686816215515,
                        "yaw": -89.51372528076172
                    }
                },
                "velocity": {
                    "x": 0.06045259162783623,
                    "y": -7.66621208190918,
                    "z": -0.12537263333797455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.495810031890869,
                "transform": {
                    "location": {
                        "x": 1985.1165771484375,
                        "y": 2092.135498046875,
                        "z": 360.8177795410156
                    },
                    "rotation": {
                        "roll": 0.0022663334384560585,
                        "pitch": -0.9502295255661011,
                        "yaw": -89.54674530029297
                    }
                },
                "velocity": {
                    "x": 0.04802558198571205,
                    "y": -6.494875431060791,
                    "z": -0.09915805608034134
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0341867096722126,
        "expert_target_speed": 8.014843271466308,
        "target_point": [
            46.059127801675366,
            -0.30009475223612353
        ],
        "target_point_next": [
            50.525591454691686,
            -0.45202315623496464
        ]
    },
    "50": {
        "acceleration": [
            0.22256016731262207,
            1.572256088256836,
            0.022573769092559814
        ],
        "angular_velocity": [
            2.073988199234009,
            -0.3063693046569824,
            -0.20722950994968414
        ],
        "forward_vector": [
            0.002846651943400502,
            -0.9999476075172424,
            -0.009831626899540424
        ],
        "right_vector": [
            0.9999958276748657,
            0.0028510955162346363,
            -0.00043797073885798454
        ],
        "location": [
            1985.0201416015625,
            2122.806884765625,
            361.3105773925781
        ],
        "rotation": [
            0.02509508654475212,
            -0.5633198022842407,
            -89.8368911743164
        ],
        "velocity": [
            0.023435162380337715,
            -7.962801456451416,
            -0.13715791702270508
        ],
        "speed": 7.962835942156575,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.188796997070312,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.1029052734375,
                2105.62060546875,
                361.0281982421875
            ],
            "velocity": [
                0.0447625108063221,
                -6.615972518920898,
                -0.10860660672187805
            ],
            "speed_kmh": 23.82125507131687,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.44692325592041,
                "transform": {
                    "location": {
                        "x": 1982.2496337890625,
                        "y": 2083.974365234375,
                        "z": 360.6873474121094
                    },
                    "rotation": {
                        "roll": 0.01742587611079216,
                        "pitch": 1.4086376428604126,
                        "yaw": 90.45877075195312
                    }
                },
                "velocity": {
                    "x": -0.06481466442346573,
                    "y": 8.445719718933105,
                    "z": 0.12700232863426208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.989891290664673,
                "transform": {
                    "location": {
                        "x": 1985.013671875,
                        "y": 2150.896484375,
                        "z": 361.8056640625
                    },
                    "rotation": {
                        "roll": -0.002838177839294076,
                        "pitch": -1.4224824905395508,
                        "yaw": -89.52796936035156
                    }
                },
                "velocity": {
                    "x": 0.026334084570407867,
                    "y": -3.989086627960205,
                    "z": -0.0756819099187851
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.7910566329956055,
                "transform": {
                    "location": {
                        "x": 1985.0364990234375,
                        "y": 2136.635498046875,
                        "z": 361.55084228515625
                    },
                    "rotation": {
                        "roll": 0.009957447648048401,
                        "pitch": -1.107603907585144,
                        "yaw": -89.55804443359375
                    }
                },
                "velocity": {
                    "x": 0.04026041924953461,
                    "y": -5.79003381729126,
                    "z": -0.10112075507640839
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.617015361785889,
                "transform": {
                    "location": {
                        "x": 1985.1029052734375,
                        "y": 2105.62060546875,
                        "z": 361.0281982421875
                    },
                    "rotation": {
                        "roll": -0.0012207792606204748,
                        "pitch": -1.0451350212097168,
                        "yaw": -89.57787322998047
                    }
                },
                "velocity": {
                    "x": 0.0447625108063221,
                    "y": -6.615972518920898,
                    "z": -0.10860660672187805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.098552227020264,
                "transform": {
                    "location": {
                        "x": 1985.126708984375,
                        "y": 2090.71142578125,
                        "z": 360.79608154296875
                    },
                    "rotation": {
                        "roll": -0.001281811622902751,
                        "pitch": -1.1182794570922852,
                        "yaw": -89.58818817138672
                    }
                },
                "velocity": {
                    "x": 0.03481704741716385,
                    "y": -5.097836971282959,
                    "z": -0.0779772400856018
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.016757335513830185,
        "expert_target_speed": 8.292373428291569,
        "target_point": [
            44.080069763547634,
            -0.06568801778014083
        ],
        "target_point_next": [
            48.5472493888987,
            -0.19486231284628258
        ]
    },
    "55": {
        "acceleration": [
            -0.22448661923408508,
            2.7210330963134766,
            0.04191681742668152
        ],
        "angular_velocity": [
            1.2835649251937866,
            0.20210938155651093,
            -0.682692289352417
        ],
        "forward_vector": [
            0.0028983044903725386,
            -0.9998371005058289,
            -0.01781560108065605
        ],
        "right_vector": [
            0.999995768070221,
            0.002905359724536538,
            -0.0003701448149513453
        ],
        "location": [
            1985.0262451171875,
            2120.89892578125,
            361.2796325683594
        ],
        "rotation": [
            0.021211102604866028,
            -1.020812749862671,
            -89.83391571044922
        ],
        "velocity": [
            0.007690710481256247,
            -7.30181360244751,
            -0.1243293508887291
        ],
        "speed": 7.301817652606451,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.252429962158203,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.109619140625,
                2104.64892578125,
                361.01123046875
            ],
            "velocity": [
                0.004073818679898977,
                -0.7292013168334961,
                -0.011580638587474823
            ],
            "speed_kmh": 2.6254967280267634,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8719916343688965,
                "transform": {
                    "location": {
                        "x": 1982.236572265625,
                        "y": 2086.012451171875,
                        "z": 360.7196350097656
                    },
                    "rotation": {
                        "roll": 0.025457952171564102,
                        "pitch": 0.9343356490135193,
                        "yaw": 90.3472900390625
                    }
                },
                "velocity": {
                    "x": -0.041023511439561844,
                    "y": 7.8709893226623535,
                    "z": 0.11874628067016602
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4713989198207855,
                "transform": {
                    "location": {
                        "x": 1985.015625,
                        "y": 2150.61279296875,
                        "z": 361.80023193359375
                    },
                    "rotation": {
                        "roll": -0.006378165911883116,
                        "pitch": -1.5886199474334717,
                        "yaw": -89.54218292236328
                    }
                },
                "velocity": {
                    "x": 0.0004432648711372167,
                    "y": -0.47133925557136536,
                    "z": -0.007487630471587181
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.008771213702857494,
                "transform": {
                    "location": {
                        "x": 1985.041259765625,
                        "y": 2135.9775390625,
                        "z": 361.5450744628906
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -2.7039761543273926,
                        "yaw": -89.5896224975586
                    }
                },
                "velocity": {
                    "x": -0.0005641627358272672,
                    "y": -0.00846592616289854,
                    "z": -0.0022235107608139515
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7293046712875366,
                "transform": {
                    "location": {
                        "x": 1985.109619140625,
                        "y": 2104.64892578125,
                        "z": 361.01123046875
                    },
                    "rotation": {
                        "roll": -0.0041503929533064365,
                        "pitch": -1.6624747514724731,
                        "yaw": -89.59893798828125
                    }
                },
                "velocity": {
                    "x": 0.004073818679898977,
                    "y": -0.7292013168334961,
                    "z": -0.011580638587474823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.394786834716797,
                "transform": {
                    "location": {
                        "x": 1985.1353759765625,
                        "y": 2089.410888671875,
                        "z": 360.77630615234375
                    },
                    "rotation": {
                        "roll": -0.004272527992725372,
                        "pitch": -0.886408269405365,
                        "yaw": -89.5417251586914
                    }
                },
                "velocity": {
                    "x": 0.03822997584939003,
                    "y": -5.394018650054932,
                    "z": -0.08260775357484818
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.026575647294521332,
        "expert_target_speed": 7.482494633689644,
        "target_point": [
            42.17209834003526,
            -0.0681122182249986
        ],
        "target_point_next": [
            46.63927259222669,
            -0.1974721974128864
        ]
    },
    "60": {
        "acceleration": [
            -0.0891374796628952,
            2.3019790649414062,
            0.04104793071746826
        ],
        "angular_velocity": [
            0.1888969987630844,
            0.019435755908489227,
            -0.904472827911377
        ],
        "forward_vector": [
            -0.0009541037725284696,
            -0.9997793436050415,
            -0.02098263055086136
        ],
        "right_vector": [
            0.9999992847442627,
            -0.0009401421993970871,
            -0.0006752413464710116
        ],
        "location": [
            1985.024658203125,
            2119.174560546875,
            361.2510070800781
        ],
        "rotation": [
            0.038697004318237305,
            -1.202304482460022,
            -90.05467987060547
        ],
        "velocity": [
            -0.02191856876015663,
            -6.611923694610596,
            -0.11174799501895905
        ],
        "speed": 6.611960024607645,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.622344017028809,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.110107421875,
                2104.554443359375,
                361.0105895996094
            ],
            "velocity": [
                0.006305509712547064,
                -0.8869589567184448,
                -0.014076624065637589
            ],
            "speed_kmh": 3.1935350253353363,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9794535636901855,
                "transform": {
                    "location": {
                        "x": 1982.2265625,
                        "y": 2087.97021484375,
                        "z": 360.74945068359375
                    },
                    "rotation": {
                        "roll": 0.014749357476830482,
                        "pitch": 0.8965032696723938,
                        "yaw": 90.27574920654297
                    }
                },
                "velocity": {
                    "x": -0.03639835864305496,
                    "y": 7.978459358215332,
                    "z": 0.12057965993881226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7053563594818115,
                "transform": {
                    "location": {
                        "x": 1985.0174560546875,
                        "y": 2150.3291015625,
                        "z": 361.79595947265625
                    },
                    "rotation": {
                        "roll": -0.007690463215112686,
                        "pitch": -1.0199247598648071,
                        "yaw": -89.47871398925781
                    }
                },
                "velocity": {
                    "x": 0.012513536959886551,
                    "y": -1.7050418853759766,
                    "z": -0.03026328980922699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.531670093536377,
                "transform": {
                    "location": {
                        "x": 1985.0430908203125,
                        "y": 2135.71875,
                        "z": 361.53607177734375
                    },
                    "rotation": {
                        "roll": 5.337935604643462e-08,
                        "pitch": -1.5086930990219116,
                        "yaw": -89.57989501953125
                    }
                },
                "velocity": {
                    "x": 0.009545383043587208,
                    "y": -1.5314255952835083,
                    "z": -0.02564879320561886
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8870930671691895,
                "transform": {
                    "location": {
                        "x": 1985.110107421875,
                        "y": 2104.554443359375,
                        "z": 361.0105895996094
                    },
                    "rotation": {
                        "roll": -0.005096424836665392,
                        "pitch": -1.1332991123199463,
                        "yaw": -89.61058807373047
                    }
                },
                "velocity": {
                    "x": 0.006305509712547064,
                    "y": -0.8869589567184448,
                    "z": -0.014076624065637589
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.327723026275635,
                "transform": {
                    "location": {
                        "x": 1985.1435546875,
                        "y": 2088.06787109375,
                        "z": 360.75579833984375
                    },
                    "rotation": {
                        "roll": 0.000769795966334641,
                        "pitch": -0.8876923322677612,
                        "yaw": -89.63054656982422
                    }
                },
                "velocity": {
                    "x": 0.027059292420744896,
                    "y": -5.327045917510986,
                    "z": -0.0804940015077591
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01258685253560543,
        "expert_target_speed": 6.815802243353439,
        "target_point": [
            40.44768652026417,
            0.09224462797091046
        ],
        "target_point_next": [
            44.91532032863765,
            -0.02012955917084329
        ]
    },
    "65": {
        "acceleration": [
            -0.11628203094005585,
            0.3483390808105469,
            0.021121948957443237
        ],
        "angular_velocity": [
            -0.39630773663520813,
            0.01184126827865839,
            -0.9036004543304443
        ],
        "forward_vector": [
            -0.004897602368146181,
            -0.9997900128364563,
            -0.019897816702723503
        ],
        "right_vector": [
            0.999987781047821,
            -0.00488328980281949,
            -0.0007678363472223282
        ],
        "location": [
            1985.0167236328125,
            2117.552978515625,
            361.223388671875
        ],
        "rotation": [
            0.04400249570608139,
            -1.1401361227035522,
            -90.28067016601562
        ],
        "velocity": [
            -0.04821498692035675,
            -6.401272296905518,
            -0.10842353850603104
        ],
        "speed": 6.401453874245582,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.366623878479004,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.1119384765625,
                2104.1884765625,
                361.00506591796875
            ],
            "velocity": [
                0.01106983982026577,
                -1.9439302682876587,
                -0.029964756220579147
            ],
            "speed_kmh": 6.999093776661646,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.133975982666016,
                "transform": {
                    "location": {
                        "x": 1982.2174072265625,
                        "y": 2090.004150390625,
                        "z": 360.7801513671875
                    },
                    "rotation": {
                        "roll": 0.01117757335305214,
                        "pitch": 0.9604269862174988,
                        "yaw": 90.24403381347656
                    }
                },
                "velocity": {
                    "x": -0.029848260805010796,
                    "y": 8.1329927444458,
                    "z": 0.12287499755620956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1688766479492188,
                "transform": {
                    "location": {
                        "x": 1985.021484375,
                        "y": 2149.796630859375,
                        "z": 361.7864074707031
                    },
                    "rotation": {
                        "roll": -0.009063702076673508,
                        "pitch": -0.9588287472724915,
                        "yaw": -89.4284439086914
                    }
                },
                "velocity": {
                    "x": 0.016964701935648918,
                    "y": -2.1684458255767822,
                    "z": -0.03975518047809601
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.651768922805786,
                "transform": {
                    "location": {
                        "x": 1985.04638671875,
                        "y": 2135.190673828125,
                        "z": 361.52459716796875
                    },
                    "rotation": {
                        "roll": -0.0014953898498788476,
                        "pitch": -0.8524417281150818,
                        "yaw": -89.5805892944336
                    }
                },
                "velocity": {
                    "x": 0.016588548198342323,
                    "y": -2.6513113975524902,
                    "z": -0.04637638479471207
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9441927671432495,
                "transform": {
                    "location": {
                        "x": 1985.1119384765625,
                        "y": 2104.1884765625,
                        "z": 361.00506591796875
                    },
                    "rotation": {
                        "roll": -0.0032654223032295704,
                        "pitch": -0.841062605381012,
                        "yaw": -89.7030258178711
                    }
                },
                "velocity": {
                    "x": 0.01106983982026577,
                    "y": -1.9439302682876587,
                    "z": -0.029964756220579147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.127996444702148,
                "transform": {
                    "location": {
                        "x": 1985.1492919921875,
                        "y": 2086.7783203125,
                        "z": 360.7363586425781
                    },
                    "rotation": {
                        "roll": 0.0010394417913630605,
                        "pitch": -0.915067732334137,
                        "yaw": -89.69959259033203
                    }
                },
                "velocity": {
                    "x": 0.023012029007077217,
                    "y": -5.127368450164795,
                    "z": -0.07688390463590622
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.008324624970555305,
        "expert_target_speed": 6.549935251480669,
        "target_point": [
            38.82539718805081,
            0.2532863918838785
        ],
        "target_point_next": [
            43.29344301042329,
            0.1587013357844041
        ]
    },
    "70": {
        "acceleration": [
            0.021659284830093384,
            0.24745941162109375,
            -0.0002746284008026123
        ],
        "angular_velocity": [
            -0.3420508801937103,
            -0.08269020915031433,
            -0.31946995854377747
        ],
        "forward_vector": [
            -0.007779156789183617,
            -0.9997795820236206,
            -0.019498901441693306
        ],
        "right_vector": [
            0.9999696612358093,
            -0.007770194672048092,
            -0.0005353576852940023
        ],
        "location": [
            1985.0040283203125,
            2115.999755859375,
            361.1971435546875
        ],
        "rotation": [
            0.030679570510983467,
            -1.1172754764556885,
            -90.44580078125
        ],
        "velocity": [
            -0.05343414098024368,
            -6.125764846801758,
            -0.10346771031618118
        ],
        "speed": 6.125997891424259,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.449149131774902,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.1141357421875,
                2103.552734375,
                360.9950256347656
            ],
            "velocity": [
                0.01266401819884777,
                -3.103626251220703,
                -0.05055180564522743
            ],
            "speed_kmh": 11.17462950325498,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9259033203125,
                "transform": {
                    "location": {
                        "x": 1982.210693359375,
                        "y": 2092.00390625,
                        "z": 360.8108825683594
                    },
                    "rotation": {
                        "roll": 0.010217360220849514,
                        "pitch": 0.8528788685798645,
                        "yaw": 90.18903350830078
                    }
                },
                "velocity": {
                    "x": -0.02427983283996582,
                    "y": 7.92492151260376,
                    "z": 0.12236854434013367
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.2698619067668915,
                "transform": {
                    "location": {
                        "x": 1985.0230712890625,
                        "y": 2149.598388671875,
                        "z": 361.7824401855469
                    },
                    "rotation": {
                        "roll": -0.013458277098834515,
                        "pitch": -1.245300531387329,
                        "yaw": -89.33067321777344
                    }
                },
                "velocity": {
                    "x": 0.00405238289386034,
                    "y": -0.2697886824607849,
                    "z": -0.004805545788258314
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.095764636993408,
                "transform": {
                    "location": {
                        "x": 1985.0516357421875,
                        "y": 2134.338134765625,
                        "z": 361.5085754394531
                    },
                    "rotation": {
                        "roll": -0.002502437913790345,
                        "pitch": -0.5311837792396545,
                        "yaw": -89.60295867919922
                    }
                },
                "velocity": {
                    "x": 0.025584368035197258,
                    "y": -4.0950751304626465,
                    "z": -0.07066600024700165
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.1040637493133545,
                "transform": {
                    "location": {
                        "x": 1985.1141357421875,
                        "y": 2103.552734375,
                        "z": 360.9950256347656
                    },
                    "rotation": {
                        "roll": -0.00039674623985774815,
                        "pitch": -0.7611083984375,
                        "yaw": -89.75316619873047
                    }
                },
                "velocity": {
                    "x": 0.01266401819884777,
                    "y": -3.103626251220703,
                    "z": -0.05055180564522743
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.829934597015381,
                "transform": {
                    "location": {
                        "x": 1985.1552734375,
                        "y": 2085.524169921875,
                        "z": 360.7171936035156
                    },
                    "rotation": {
                        "roll": -0.00036631550756283104,
                        "pitch": -0.914179801940918,
                        "yaw": -89.7373046875
                    }
                },
                "velocity": {
                    "x": 0.019856290891766548,
                    "y": -4.829326152801514,
                    "z": -0.0740562230348587
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.030085474252700806,
        "expert_target_speed": 6.274170156662823,
        "target_point": [
            37.27122702193143,
            0.36625778355094873
        ],
        "target_point_next": [
            41.73952789540601,
            0.2846054243453872
        ]
    },
    "75": {
        "acceleration": [
            0.12907695770263672,
            11.004819869995117,
            0.14407381415367126
        ],
        "angular_velocity": [
            1.9860609769821167,
            -0.054396845400333405,
            0.30847787857055664
        ],
        "forward_vector": [
            -0.007291350048035383,
            -0.9996702671051025,
            -0.024622095748782158
        ],
        "right_vector": [
            0.9999734163284302,
            -0.007291011046618223,
            -0.00010352953540859744
        ],
        "location": [
            1984.994384765625,
            2114.672119140625,
            361.1756286621094
        ],
        "rotation": [
            0.0059336042031645775,
            -1.4108847379684448,
            -90.41789245605469
        ],
        "velocity": [
            -0.026382023468613625,
            -4.438121795654297,
            -0.07750800251960754
        ],
        "speed": 4.43820020776711,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.09865951538086,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.1180419921875,
                2102.57568359375,
                360.9793395996094
            ],
            "velocity": [
                0.019343433901667595,
                -4.6183013916015625,
                -0.07434871047735214
            ],
            "speed_kmh": 16.62818513763254,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.058266639709473,
                "transform": {
                    "location": {
                        "x": 1982.20458984375,
                        "y": 2093.99951171875,
                        "z": 360.8412170410156
                    },
                    "rotation": {
                        "roll": 0.0052473656833171844,
                        "pitch": 0.9086883068084717,
                        "yaw": 90.17245483398438
                    }
                },
                "velocity": {
                    "x": -0.024194521829485893,
                    "y": 8.057283401489258,
                    "z": 0.12353042513132095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2681162357330322,
                "transform": {
                    "location": {
                        "x": 1985.0242919921875,
                        "y": 2149.389892578125,
                        "z": 361.779052734375
                    },
                    "rotation": {
                        "roll": -0.007019008044153452,
                        "pitch": -0.9617247581481934,
                        "yaw": -89.42778778076172
                    }
                },
                "velocity": {
                    "x": 0.008343213237822056,
                    "y": -1.2678865194320679,
                    "z": -0.022648286074399948
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.338539123535156,
                "transform": {
                    "location": {
                        "x": 1985.0577392578125,
                        "y": 2133.141357421875,
                        "z": 361.4877624511719
                    },
                    "rotation": {
                        "roll": 0.005220303777605295,
                        "pitch": -0.44625720381736755,
                        "yaw": -89.6771240234375
                    }
                },
                "velocity": {
                    "x": 0.02289663255214691,
                    "y": -5.337731838226318,
                    "z": -0.0899793803691864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.618940353393555,
                "transform": {
                    "location": {
                        "x": 1985.1180419921875,
                        "y": 2102.57568359375,
                        "z": 360.9793395996094
                    },
                    "rotation": {
                        "roll": -0.0026244770269840956,
                        "pitch": -0.6905115842819214,
                        "yaw": -89.7567367553711
                    }
                },
                "velocity": {
                    "x": 0.019343433901667595,
                    "y": -4.6183013916015625,
                    "z": -0.07434871047735214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.632403373718262,
                "transform": {
                    "location": {
                        "x": 1985.1593017578125,
                        "y": 2084.359375,
                        "z": 360.69976806640625
                    },
                    "rotation": {
                        "roll": -0.0019835648126900196,
                        "pitch": -0.9071037173271179,
                        "yaw": -89.75576782226562
                    }
                },
                "velocity": {
                    "x": 0.01874745637178421,
                    "y": -4.631855487823486,
                    "z": -0.06873632222414017
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03635402396321297,
        "expert_target_speed": 4.9905847004090855,
        "target_point": [
            35.94373017215648,
            0.34795758272536814
        ],
        "target_point_next": [
            40.4119905237234,
            0.2641170539065561
        ]
    },
    "80": {
        "acceleration": [
            -0.11682851612567902,
            0.9013795852661133,
            0.024897605180740356
        ],
        "angular_velocity": [
            -0.9394907355308533,
            0.05157782509922981,
            -1.0407770872116089
        ],
        "forward_vector": [
            -0.006608583964407444,
            -0.9994707703590393,
            -0.031850673258304596
        ],
        "right_vector": [
            0.9999781847000122,
            -0.006607315968722105,
            -0.00014506839215755463
        ],
        "location": [
            1984.990478515625,
            2113.939208984375,
            361.1646728515625
        ],
        "rotation": [
            0.008316025137901306,
            -1.8252177238464355,
            -90.37883758544922
        ],
        "velocity": [
            -0.014178522862493992,
            -2.0290400981903076,
            -0.03386395797133446
        ],
        "speed": 2.029089635914268,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.663264274597168,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.1240234375,
                2101.2783203125,
                360.95892333984375
            ],
            "velocity": [
                0.0220748633146286,
                -5.399312496185303,
                -0.08490590751171112
            ],
            "speed_kmh": 19.440090581183473,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0355224609375,
                "transform": {
                    "location": {
                        "x": 1982.1988525390625,
                        "y": 2096.0166015625,
                        "z": 360.8724060058594
                    },
                    "rotation": {
                        "roll": 0.005843551363795996,
                        "pitch": 0.9189472794532776,
                        "yaw": 90.15865325927734
                    }
                },
                "velocity": {
                    "x": -0.020484866574406624,
                    "y": 8.034520149230957,
                    "z": 0.1252339780330658
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2698137760162354,
                "transform": {
                    "location": {
                        "x": 1985.0264892578125,
                        "y": 2148.952880859375,
                        "z": 361.7713317871094
                    },
                    "rotation": {
                        "roll": -0.006774925626814365,
                        "pitch": -0.8909912705421448,
                        "yaw": -89.48577880859375
                    }
                },
                "velocity": {
                    "x": 0.012478087097406387,
                    "y": -2.269411087036133,
                    "z": -0.04089086502790451
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.809229373931885,
                "transform": {
                    "location": {
                        "x": 1985.0638427734375,
                        "y": 2131.804443359375,
                        "z": 361.4656982421875
                    },
                    "rotation": {
                        "roll": 0.001502673840150237,
                        "pitch": -0.7004085183143616,
                        "yaw": -89.72814178466797
                    }
                },
                "velocity": {
                    "x": 0.023453988134860992,
                    "y": -5.808304309844971,
                    "z": -0.10097309201955795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.400024890899658,
                "transform": {
                    "location": {
                        "x": 1985.1240234375,
                        "y": 2101.2783203125,
                        "z": 360.95892333984375
                    },
                    "rotation": {
                        "roll": -0.0019226031145080924,
                        "pitch": -0.7657734751701355,
                        "yaw": -89.76741790771484
                    }
                },
                "velocity": {
                    "x": 0.0220748633146286,
                    "y": -5.399312496185303,
                    "z": -0.08490590751171112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.342188835144043,
                "transform": {
                    "location": {
                        "x": 1985.1634521484375,
                        "y": 2083.236083984375,
                        "z": 360.68304443359375
                    },
                    "rotation": {
                        "roll": 0.0007340196752920747,
                        "pitch": -0.9194936752319336,
                        "yaw": -89.78594970703125
                    }
                },
                "velocity": {
                    "x": 0.013758314773440361,
                    "y": -4.341685771942139,
                    "z": -0.06465019285678864
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03682044893503189,
        "expert_target_speed": 2.8733752669451103,
        "target_point": [
            35.21103743038383,
            0.3226888969824057
        ],
        "target_point_next": [
            39.67924002992298,
            0.23582501997246924
        ]
    },
    "85": {
        "acceleration": [
            -0.06376605480909348,
            -4.538230895996094,
            -0.06315477192401886
        ],
        "angular_velocity": [
            -2.7643520832061768,
            0.060901593416929245,
            0.42980456352233887
        ],
        "forward_vector": [
            -0.008831922896206379,
            -0.9997333884239197,
            -0.02133195474743843
        ],
        "right_vector": [
            0.9999610185623169,
            -0.008830090053379536,
            -0.0001801410544430837
        ],
        "location": [
            1984.98583984375,
            2113.384521484375,
            361.1532287597656
        ],
        "rotation": [
            0.010323671624064445,
            -1.2223237752914429,
            -90.50615692138672
        ],
        "velocity": [
            -0.02615594118833542,
            -2.5666165351867676,
            -0.04200562462210655
        ],
        "speed": 2.5667498070426684,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.524471282958984,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.129638671875,
                2099.862548828125,
                360.9366455078125
            ],
            "velocity": [
                0.023685399442911148,
                -6.529894828796387,
                -0.10327854007482529
            ],
            "speed_kmh": 23.510716087232773,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.983561038970947,
                "transform": {
                    "location": {
                        "x": 1982.1943359375,
                        "y": 2098.013916015625,
                        "z": 360.9037780761719
                    },
                    "rotation": {
                        "roll": 0.0041394587606191635,
                        "pitch": 0.9122263789176941,
                        "yaw": 90.13929748535156
                    }
                },
                "velocity": {
                    "x": -0.01921430602669716,
                    "y": 7.982529163360596,
                    "z": 0.12690743803977966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8398549556732178,
                "transform": {
                    "location": {
                        "x": 1985.0302734375,
                        "y": 2148.19140625,
                        "z": 361.7578125
                    },
                    "rotation": {
                        "roll": -0.003204341046512127,
                        "pitch": -0.8041386008262634,
                        "yaw": -89.58269500732422
                    }
                },
                "velocity": {
                    "x": 0.019495252519845963,
                    "y": -3.839195728302002,
                    "z": -0.06842643022537231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.4342942237854,
                "transform": {
                    "location": {
                        "x": 1985.070556640625,
                        "y": 2130.11474609375,
                        "z": 361.4354248046875
                    },
                    "rotation": {
                        "roll": 0.0013991728192195296,
                        "pitch": -0.42245399951934814,
                        "yaw": -89.76287841796875
                    }
                },
                "velocity": {
                    "x": 0.028703154996037483,
                    "y": -7.433145046234131,
                    "z": -0.1275249570608139
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.530754566192627,
                "transform": {
                    "location": {
                        "x": 1985.129638671875,
                        "y": 2099.862548828125,
                        "z": 360.9366455078125
                    },
                    "rotation": {
                        "roll": 6.651980947935954e-05,
                        "pitch": -0.7376399040222168,
                        "yaw": -89.78582000732422
                    }
                },
                "velocity": {
                    "x": 0.023685399442911148,
                    "y": -6.529894828796387,
                    "z": -0.10327854007482529
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.198016166687012,
                "transform": {
                    "location": {
                        "x": 1985.1671142578125,
                        "y": 2082.1640625,
                        "z": 360.6671142578125
                    },
                    "rotation": {
                        "roll": 9.099151793634519e-05,
                        "pitch": -0.901885449886322,
                        "yaw": -89.80612182617188
                    }
                },
                "velocity": {
                    "x": 0.013271406292915344,
                    "y": -4.197518348693848,
                    "z": -0.06326945126056671
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.053561434149742126,
        "expert_target_speed": 3.4674246185898596,
        "target_point": [
            34.655530265947085,
            0.40034739648939177
        ],
        "target_point_next": [
            39.12391415397148,
            0.3233718620543421
        ]
    },
    "90": {
        "acceleration": [
            -0.08409358561038971,
            -6.771268844604492,
            -0.11922039091587067
        ],
        "angular_velocity": [
            -1.9039533138275146,
            0.0374881811439991,
            -0.19730786979198456
        ],
        "forward_vector": [
            -0.009657888673245907,
            -0.9998932480812073,
            -0.010963457636535168
        ],
        "right_vector": [
            0.9999532699584961,
            -0.009655467234551907,
            -0.0002736691676545888
        ],
        "location": [
            1984.9771728515625,
            2112.5556640625,
            361.1373596191406
        ],
        "rotation": [
            0.015681030228734016,
            -0.6281724572181702,
            -90.55339813232422
        ],
        "velocity": [
            -0.044398412108421326,
            -4.094498157501221,
            -0.06797414273023605
        ],
        "speed": 4.094738866005821,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.549310684204102,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.1356201171875,
                2098.009033203125,
                360.90740966796875
            ],
            "velocity": [
                0.02202419750392437,
                -7.664341926574707,
                -0.12236633896827698
            ],
            "speed_kmh": 27.595261204909125,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.055011749267578,
                "transform": {
                    "location": {
                        "x": 1982.1903076171875,
                        "y": 2100.02099609375,
                        "z": 360.93548583984375
                    },
                    "rotation": {
                        "roll": 0.0016465086955577135,
                        "pitch": 0.9362412691116333,
                        "yaw": 90.1344985961914
                    }
                },
                "velocity": {
                    "x": -0.018906885758042336,
                    "y": 8.05398941040039,
                    "z": 0.1268981397151947
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.282381534576416,
                "transform": {
                    "location": {
                        "x": 1985.0360107421875,
                        "y": 2147.040283203125,
                        "z": 361.7375793457031
                    },
                    "rotation": {
                        "roll": -0.00234983884729445,
                        "pitch": -0.7966868877410889,
                        "yaw": -89.67742156982422
                    }
                },
                "velocity": {
                    "x": 0.0230411384254694,
                    "y": -5.281540393829346,
                    "z": -0.09140215069055557
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.871311187744141,
                "transform": {
                    "location": {
                        "x": 1985.077880859375,
                        "y": 2128.143310546875,
                        "z": 361.40228271484375
                    },
                    "rotation": {
                        "roll": 0.004309928510338068,
                        "pitch": -0.6035701036453247,
                        "yaw": -89.79296875
                    }
                },
                "velocity": {
                    "x": 0.02502133697271347,
                    "y": -7.870113849639893,
                    "z": -0.13498622179031372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.665350437164307,
                "transform": {
                    "location": {
                        "x": 1985.1356201171875,
                        "y": 2098.009033203125,
                        "z": 360.90740966796875
                    },
                    "rotation": {
                        "roll": 0.0038878386840224266,
                        "pitch": -0.7279683351516724,
                        "yaw": -89.85353088378906
                    }
                },
                "velocity": {
                    "x": 0.02202419750392437,
                    "y": -7.664341926574707,
                    "z": -0.12236633896827698
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.008936405181885,
                "transform": {
                    "location": {
                        "x": 1985.1702880859375,
                        "y": 2081.14453125,
                        "z": 360.6518249511719
                    },
                    "rotation": {
                        "roll": -0.0013733053347095847,
                        "pitch": -0.9029783010482788,
                        "yaw": -89.8231430053711
                    }
                },
                "velocity": {
                    "x": 0.011621594429016113,
                    "y": -4.008463382720947,
                    "z": -0.06045626848936081
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06532134860754013,
        "expert_target_speed": 4.981771789657617,
        "target_point": [
            33.82628574440583,
            0.4295946859527135
        ],
        "target_point_next": [
            38.29473161133608,
            0.35630527354239816
        ]
    },
    "95": {
        "acceleration": [
            -0.029449090361595154,
            -2.0169925689697266,
            -0.06759017705917358
        ],
        "angular_velocity": [
            0.635165810585022,
            -0.02868613228201866,
            0.34926313161849976
        ],
        "forward_vector": [
            -0.01001791749149561,
            -0.9999310374259949,
            -0.006126841995865107
        ],
        "right_vector": [
            0.9999498128890991,
            -0.010016785934567451,
            -0.00021545705385506153
        ],
        "location": [
            1984.9644775390625,
            2111.31298828125,
            361.1159973144531
        ],
        "rotation": [
            0.012345011346042156,
            -0.3510443866252899,
            -90.57400512695312
        ],
        "velocity": [
            -0.05720826983451843,
            -5.566760063171387,
            -0.09184864908456802
        ],
        "speed": 5.567054013305184,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.104698181152344,
        "front_vehicle_info": {
            "id": 5116,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                1985.140625,
                2096.211181640625,
                360.8786926269531
            ],
            "velocity": [
                0.018997933715581894,
                -6.712215900421143,
                -0.10455748438835144
            ],
            "speed_kmh": 24.167005521129415,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5124,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 1933.231201171875,
                        "y": 2065.501708984375,
                        "z": 361.4574890136719
                    },
                    "rotation": {
                        "roll": 2.0845801473878822e-10,
                        "pitch": -0.7359254956245422,
                        "yaw": -0.205841064453125
                    }
                },
                "velocity": {
                    "x": -4.0606402684773e-09,
                    "y": 1.4588335747744985e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5123,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.4544677734375,
                        "y": 2014.2340087890625,
                        "z": 359.8576965332031
                    },
                    "rotation": {
                        "roll": 1.0673073091993501e-07,
                        "pitch": 0.7455629110336304,
                        "yaw": 90.11060333251953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9153095483779907,
                "transform": {
                    "location": {
                        "x": 1943.220458984375,
                        "y": 2062.7158203125,
                        "z": 361.1455383300781
                    },
                    "rotation": {
                        "roll": -0.0001220704725710675,
                        "pitch": 0.7753357291221619,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": -0.011853346601128578,
                    "y": 6.196514004841447e-05,
                    "z": -0.9152328372001648
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1927.3992919921875,
                        "y": 2062.772705078125,
                        "z": 361.3327941894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7142670154571533,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9997172355651855,
                "transform": {
                    "location": {
                        "x": 1982.1865234375,
                        "y": 2102.02783203125,
                        "z": 360.96722412109375
                    },
                    "rotation": {
                        "roll": 0.0013186094583943486,
                        "pitch": 0.9187901616096497,
                        "yaw": 90.1307373046875
                    }
                },
                "velocity": {
                    "x": -0.018216019496321678,
                    "y": 7.998699188232422,
                    "z": 0.1263226419687271
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.729454517364502,
                "transform": {
                    "location": {
                        "x": 1985.0418701171875,
                        "y": 2145.6767578125,
                        "z": 361.7131042480469
                    },
                    "rotation": {
                        "roll": -0.00140378437936306,
                        "pitch": -0.9191931486129761,
                        "yaw": -89.70013427734375
                    }
                },
                "velocity": {
                    "x": 0.023959795013070107,
                    "y": -5.728477478027344,
                    "z": -0.10306534171104431
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.895062446594238,
                "transform": {
                    "location": {
                        "x": 1985.083740234375,
                        "y": 2126.304443359375,
                        "z": 361.3726806640625
                    },
                    "rotation": {
                        "roll": 0.004621419589966536,
                        "pitch": -1.132868766784668,
                        "yaw": -89.82949829101562
                    }
                },
                "velocity": {
                    "x": 0.018963562324643135,
                    "y": -6.894022464752197,
                    "z": -0.11824741214513779
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5116,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.713057041168213,
                "transform": {
                    "location": {
                        "x": 1985.140625,
                        "y": 2096.211181640625,
                        "z": 360.8786926269531
                    },
                    "rotation": {
                        "roll": 0.0005834252224303782,
                        "pitch": -0.9745791554450989,
                        "yaw": -89.8275375366211
                    }
                },
                "velocity": {
                    "x": 0.018997933715581894,
                    "y": -6.712215900421143,
                    "z": -0.10455748438835144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5115,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8044111728668213,
                "transform": {
                    "location": {
                        "x": 1985.173095703125,
                        "y": 2080.16796875,
                        "z": 360.6371765136719
                    },
                    "rotation": {
                        "roll": -0.0009459925349801779,
                        "pitch": -0.9054303169250488,
                        "yaw": -89.82542419433594
                    }
                },
                "velocity": {
                    "x": 0.010602978989481926,
                    "y": -3.803969621658325,
                    "z": -0.056978873908519745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08143004029989243,
        "expert_target_speed": 6.30468332220405,
        "target_point": [
            32.58338681313657,
            0.44212327341477864
        ],
        "target_point_next": [
            37.05185901479881,
            0.37045747523061145
        ]
    },
    "100": {
        "acceleration": [
            -0.06796963512897491,
            -8.044757843017578,
            -0.1307298243045807
        ],
        "angular_velocity": [
            -1.2914265394210815,
            0.06485819816589355,
            0.09730205684900284
        ],
        "forward_vector": [
            -0.010055645368993282,
            -0.9999248385429382,
            -0.007014693226665258
        ],
        "right_vector": [
            0.9999494552612305,
            -0.010054738260805607,
            -0.00016457166930194944
        ],
        "location": [
            1984.949951171875,
            2109.834228515625,
            361.0918273925781
        ],
        "rotation": [
            0.00942949391901493,
            -0.40191563963890076,
            -90.576171875
        ],
        "velocity": [
            -0.06585212051868439,
            -6.728092670440674,
            -0.10986153036355972
        ],
        "speed": 6.728414931008218,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 99.35302734375,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1897.3939208984375,
                2062.88037109375,
                361.64013671875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 1984.923583984375,
                        "y": 2159.726806640625,
                        "z": 362.354248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0610356330871582,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.4539794921875,
                        "y": 2014.4249267578125,
                        "z": 359.75830078125
                    },
                    "rotation": {
                        "roll": 1.0673073091993501e-07,
                        "pitch": 0.7455629110336304,
                        "yaw": 90.11060333251953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 1933.231201171875,
                        "y": 2065.501708984375,
                        "z": 361.4574890136719
                    },
                    "rotation": {
                        "roll": 2.0845801473878822e-10,
                        "pitch": -0.7359254956245422,
                        "yaw": -0.205841064453125
                    }
                },
                "velocity": {
                    "x": -3.411360305349831e-09,
                    "y": 1.2255720743814535e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1897.3939208984375,
                        "y": 2062.88037109375,
                        "z": 361.64013671875
                    },
                    "rotation": {
                        "roll": -1.0422469831627978e-10,
                        "pitch": 0.519347071647644,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028271675109863,
                "transform": {
                    "location": {
                        "x": 1982.1824951171875,
                        "y": 2104.029541015625,
                        "z": 360.9992370605469
                    },
                    "rotation": {
                        "roll": 0.000790647289250046,
                        "pitch": 0.939629077911377,
                        "yaw": 90.13054656982422
                    }
                },
                "velocity": {
                    "x": -0.018293704837560654,
                    "y": 8.027206420898438,
                    "z": 0.12948541343212128
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.533209800720215,
                "transform": {
                    "location": {
                        "x": 1985.04833984375,
                        "y": 2144.0361328125,
                        "z": 361.6839294433594
                    },
                    "rotation": {
                        "roll": -0.001312260632403195,
                        "pitch": -0.7660534977912903,
                        "yaw": -89.75016784667969
                    }
                },
                "velocity": {
                    "x": 0.028713876381516457,
                    "y": -7.531954765319824,
                    "z": -0.1344822496175766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.719592332839966,
                "transform": {
                    "location": {
                        "x": 1985.08740234375,
                        "y": 2125.033935546875,
                        "z": 361.3543395996094
                    },
                    "rotation": {
                        "roll": 0.007868250831961632,
                        "pitch": -2.127255439758301,
                        "yaw": -89.96649169921875
                    }
                },
                "velocity": {
                    "x": 0.004789002239704132,
                    "y": -2.719144821166992,
                    "z": -0.049101803451776505
                },
                "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": 0.09598161280155182,
        "expert_target_speed": 7.576746086126692,
        "target_point": [
            31.104542443649617,
            0.4427599236417675
        ],
        "target_point_next": [
            35.57301679618926,
            0.37122836170584494
        ]
    },
    "105": {
        "acceleration": [
            -0.043299198150634766,
            -6.673984527587891,
            -0.1044723391532898
        ],
        "angular_velocity": [
            -0.11663718521595001,
            0.0307892095297575,
            0.017761405557394028
        ],
        "forward_vector": [
            -0.009550776332616806,
            -0.999949038028717,
            -0.003268116619437933
        ],
        "right_vector": [
            0.9999544024467468,
            -0.009550428949296474,
            -0.00012185551895527169
        ],
        "location": [
            1984.931396484375,
            2107.89013671875,
            361.0592956542969
        ],
        "rotation": [
            0.006981844548135996,
            -0.18724963068962097,
            -90.54723358154297
        ],
        "velocity": [
            -0.08008617907762527,
            -8.637530326843262,
            -0.14086692035198212
        ],
        "speed": 8.637901593744647,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 99.5140609741211,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1896.177734375,
                2062.884521484375,
                361.6340637207031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8628401756286621,
                "transform": {
                    "location": {
                        "x": 1984.923583984375,
                        "y": 2159.728271484375,
                        "z": 361.990234375
                    },
                    "rotation": {
                        "roll": 0.0003059706068597734,
                        "pitch": -1.0651543140411377,
                        "yaw": -89.8894271850586
                    }
                },
                "velocity": {
                    "x": 9.997437155107036e-05,
                    "y": 0.015976525843143463,
                    "z": -0.8626922369003296
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.448974609375,
                        "y": 2016.9249267578125,
                        "z": 359.77398681640625
                    },
                    "rotation": {
                        "roll": 2.668275023154365e-08,
                        "pitch": 0.7562248706817627,
                        "yaw": 90.11062622070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.036057669669389725,
                "transform": {
                    "location": {
                        "x": 1933.22998046875,
                        "y": 2065.501708984375,
                        "z": 361.1300354003906
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.744381308555603,
                        "yaw": -0.2058105319738388
                    }
                },
                "velocity": {
                    "x": -0.0004408530658110976,
                    "y": -0.000304888206301257,
                    "z": -0.03605368360877037
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1896.177734375,
                        "y": 2062.884521484375,
                        "z": 361.6340637207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01969051361084,
                "transform": {
                    "location": {
                        "x": 1982.1787109375,
                        "y": 2106.036865234375,
                        "z": 361.03167724609375
                    },
                    "rotation": {
                        "roll": 1.942608469107654e-05,
                        "pitch": 0.9617179036140442,
                        "yaw": 90.13063049316406
                    }
                },
                "velocity": {
                    "x": -0.018274106085300446,
                    "y": 8.01860523223877,
                    "z": 0.13068078458309174
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.370275497436523,
                "transform": {
                    "location": {
                        "x": 1985.0543212890625,
                        "y": 2142.024169921875,
                        "z": 361.6480407714844
                    },
                    "rotation": {
                        "roll": 0.0024372581392526627,
                        "pitch": -0.8496959805488586,
                        "yaw": -89.8221435546875
                    }
                },
                "velocity": {
                    "x": 0.023823032155632973,
                    "y": -8.368963241577148,
                    "z": -0.1463092714548111
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6213646531105042,
                "transform": {
                    "location": {
                        "x": 1985.087890625,
                        "y": 2124.83984375,
                        "z": 361.35162353515625
                    },
                    "rotation": {
                        "roll": 0.004489312879741192,
                        "pitch": -2.324183464050293,
                        "yaw": -89.98617553710938
                    }
                },
                "velocity": {
                    "x": 0.002439225325360894,
                    "y": -0.6212813258171082,
                    "z": -0.009878282435238361
                },
                "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": 0.09291815757751465,
        "expert_target_speed": 9.03791834031197,
        "target_point": [
            29.16058171949595,
            0.427042119937164
        ],
        "target_point_next": [
            33.62901938098504,
            0.35325411926338
        ]
    },
    "110": {
        "acceleration": [
            0.02509772777557373,
            -7.773094177246094,
            -0.1523420214653015
        ],
        "angular_velocity": [
            -0.8728697896003723,
            -0.0534563772380352,
            0.5198178291320801
        ],
        "forward_vector": [
            -0.00810045562684536,
            -0.9999513030052185,
            -0.005641072988510132
        ],
        "right_vector": [
            0.9999672174453735,
            -0.008101563900709152,
            0.00017363508231937885
        ],
        "location": [
            1984.9127197265625,
            2105.62939453125,
            361.02288818359375
        ],
        "rotation": [
            -0.009948715567588806,
            -0.3232113718986511,
            -90.4641342163086
        ],
        "velocity": [
            -0.07148697972297668,
            -9.805253982543945,
            -0.16029442846775055
        ],
        "speed": 9.805514573466494,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 99.62134552001953,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1894.927734375,
                2062.888916015625,
                361.6278381347656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.13073846697807312,
                "transform": {
                    "location": {
                        "x": 1984.923583984375,
                        "y": 2159.728759765625,
                        "z": 361.9798278808594
                    },
                    "rotation": {
                        "roll": 0.0005155017133802176,
                        "pitch": -1.0663154125213623,
                        "yaw": -89.88946533203125
                    }
                },
                "velocity": {
                    "x": 6.057237624190748e-05,
                    "y": -0.002451040782034397,
                    "z": 0.130715474486351
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.4444580078125,
                        "y": 2019.4219970703125,
                        "z": 359.7854919433594
                    },
                    "rotation": {
                        "roll": 2.668275023154365e-08,
                        "pitch": 0.7562248706817627,
                        "yaw": 90.11062622070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5630977153778076,
                "transform": {
                    "location": {
                        "x": 1933.24853515625,
                        "y": 2065.501708984375,
                        "z": 361.16009521484375
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.6746245622634888,
                        "yaw": -0.2007751315832138
                    }
                },
                "velocity": {
                    "x": 0.555284321308136,
                    "y": 0.0016935858875513077,
                    "z": 0.09346414357423782
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1894.927734375,
                        "y": 2062.888916015625,
                        "z": 361.6278381347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02207088470459,
                "transform": {
                    "location": {
                        "x": 1982.1746826171875,
                        "y": 2108.041259765625,
                        "z": 361.06451416015625
                    },
                    "rotation": {
                        "roll": 0.0004982994869351387,
                        "pitch": 0.9550175070762634,
                        "yaw": 90.13062286376953
                    }
                },
                "velocity": {
                    "x": -0.018311262130737305,
                    "y": 8.020981788635254,
                    "z": 0.1308945268392563
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.438712120056152,
                "transform": {
                    "location": {
                        "x": 1985.0599365234375,
                        "y": 2140.03369140625,
                        "z": 361.6127014160156
                    },
                    "rotation": {
                        "roll": 0.0011668851366266608,
                        "pitch": -1.0703452825546265,
                        "yaw": -89.85043334960938
                    }
                },
                "velocity": {
                    "x": 0.019182836636900902,
                    "y": -7.437560081481934,
                    "z": -0.12950800359249115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5549544095993042,
                "transform": {
                    "location": {
                        "x": 1985.088134765625,
                        "y": 2124.552978515625,
                        "z": 361.3426513671875
                    },
                    "rotation": {
                        "roll": 0.001109190983697772,
                        "pitch": -1.2064777612686157,
                        "yaw": -90.01422119140625
                    }
                },
                "velocity": {
                    "x": 0.0019790208898484707,
                    "y": -1.5547375679016113,
                    "z": -0.0258977971971035
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32288289070129395,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09790955483913422,
        "expert_target_speed": 9.799807437041228,
        "target_point": [
            26.90035191308567,
            0.385058637606841
        ],
        "target_point_next": [
            31.368677688221474,
            0.3047805527108648
        ]
    },
    "115": {
        "acceleration": [
            -0.3896354138851166,
            -0.5488014221191406,
            0.0058969855308532715
        ],
        "angular_velocity": [
            1.4556779861450195,
            0.3818961977958679,
            -1.7696187496185303
        ],
        "forward_vector": [
            -0.009742388501763344,
            -0.9999281764030457,
            -0.006982746534049511
        ],
        "right_vector": [
            0.9999522566795349,
            -0.009736668318510056,
            -0.0008526786114089191
        ],
        "location": [
            1984.8900146484375,
            2103.029052734375,
            360.9811706542969
        ],
        "rotation": [
            0.04885608330368996,
            -0.4000851511955261,
            -90.55821990966797
        ],
        "velocity": [
            -0.1304744929075241,
            -10.661251068115234,
            -0.1700388640165329
        ],
        "speed": 10.662049424509703,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 99.27345275878906,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1894.094482421875,
                2062.89208984375,
                361.6236572265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1780121326446533,
                "transform": {
                    "location": {
                        "x": 1984.9254150390625,
                        "y": 2159.607666015625,
                        "z": 361.9955749511719
                    },
                    "rotation": {
                        "roll": -0.005767846945673227,
                        "pitch": -0.9659457802772522,
                        "yaw": -89.83306121826172
                    }
                },
                "velocity": {
                    "x": 0.022775769233703613,
                    "y": -1.1777338981628418,
                    "z": 0.011688003316521645
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.439697265625,
                        "y": 2021.8309326171875,
                        "z": 359.81646728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7668731212615967,
                        "yaw": 90.11060333251953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0845673084259033,
                "transform": {
                    "location": {
                        "x": 1933.5989990234375,
                        "y": 2065.50341796875,
                        "z": 361.16815185546875
                    },
                    "rotation": {
                        "roll": -0.008361817337572575,
                        "pitch": -0.4783932566642761,
                        "yaw": -0.1004028394818306
                    }
                },
                "velocity": {
                    "x": 2.084538459777832,
                    "y": 0.009225375950336456,
                    "z": -0.0059348964132368565
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1894.094482421875,
                        "y": 2062.89208984375,
                        "z": 361.6236572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015876770019531,
                "transform": {
                    "location": {
                        "x": 1982.1708984375,
                        "y": 2110.0458984375,
                        "z": 361.0972595214844
                    },
                    "rotation": {
                        "roll": -0.00024415997904725373,
                        "pitch": 0.9571962952613831,
                        "yaw": 90.13069915771484
                    }
                },
                "velocity": {
                    "x": -0.018320702016353607,
                    "y": 8.014789581298828,
                    "z": 0.1307510882616043
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.415613651275635,
                "transform": {
                    "location": {
                        "x": 1985.063720703125,
                        "y": 2138.380615234375,
                        "z": 361.5836486816406
                    },
                    "rotation": {
                        "roll": 0.00013861290062777698,
                        "pitch": -1.283508539199829,
                        "yaw": -89.8780517578125
                    }
                },
                "velocity": {
                    "x": 0.011065266095101833,
                    "y": -5.414798259735107,
                    "z": -0.09331119060516357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.4766345024108887,
                "transform": {
                    "location": {
                        "x": 1985.08935546875,
                        "y": 2124.0478515625,
                        "z": 361.3324890136719
                    },
                    "rotation": {
                        "roll": -0.0020447156857699156,
                        "pitch": -0.7906489968299866,
                        "yaw": -89.97765350341797
                    }
                },
                "velocity": {
                    "x": 0.004770455416291952,
                    "y": -2.4762680530548096,
                    "z": -0.042338062077760696
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11612360924482346,
        "expert_target_speed": 10.0,
        "target_point": [
            24.299242872203774,
            0.4266600246676459
        ],
        "target_point_next": [
            28.76769459591148,
            0.3537285736249449
        ]
    },
    "120": {
        "acceleration": [
            -0.09699910879135132,
            0.1691436767578125,
            -0.008946657180786133
        ],
        "angular_velocity": [
            0.8254001140594482,
            -0.04899514466524124,
            -0.8526092767715454
        ],
        "forward_vector": [
            -0.016789298504590988,
            -0.9997673630714417,
            -0.013540687970817089
        ],
        "right_vector": [
            0.9998583793640137,
            -0.016772152855992317,
            -0.0013786691706627607
        ],
        "location": [
            1984.8505859375,
            2100.401123046875,
            360.9410095214844
        ],
        "rotation": [
            0.07899919897317886,
            -0.7758479714393616,
            -90.96208953857422
        ],
        "velocity": [
            -0.17870722711086273,
            -10.451038360595703,
            -0.16588053107261658
        ],
        "speed": 10.452566148447211,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 99.35874938964844,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.844482421875,
                2062.896728515625,
                361.6174621582031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.139580249786377,
                "transform": {
                    "location": {
                        "x": 1984.931884765625,
                        "y": 2159.189697265625,
                        "z": 361.99151611328125
                    },
                    "rotation": {
                        "roll": -0.00946042500436306,
                        "pitch": -0.9523332118988037,
                        "yaw": -89.63922119140625
                    }
                },
                "velocity": {
                    "x": 0.043562691658735275,
                    "y": -2.1388633251190186,
                    "z": -0.03419775515794754
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.435302734375,
                        "y": 2024.1180419921875,
                        "z": 359.8457336425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7668731212615967,
                        "yaw": 90.11060333251953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.674868106842041,
                "transform": {
                    "location": {
                        "x": 1934.3165283203125,
                        "y": 2065.5068359375,
                        "z": 361.1611633300781
                    },
                    "rotation": {
                        "roll": -0.011260985396802425,
                        "pitch": -0.4228501617908478,
                        "yaw": 0.05745692178606987
                    }
                },
                "velocity": {
                    "x": 3.674543619155884,
                    "y": 0.019718384370207787,
                    "z": -0.04467930272221565
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.844482421875,
                        "y": 2062.896728515625,
                        "z": 361.6174621582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027555465698242,
                "transform": {
                    "location": {
                        "x": 1982.1668701171875,
                        "y": 2112.0517578125,
                        "z": 361.1302795410156
                    },
                    "rotation": {
                        "roll": 0.00019079218327533454,
                        "pitch": 0.966437578201294,
                        "yaw": 90.12728881835938
                    }
                },
                "velocity": {
                    "x": -0.017855368554592133,
                    "y": 8.026432991027832,
                    "z": 0.1330179125070572
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0042788684368133545,
                "transform": {
                    "location": {
                        "x": 1985.064697265625,
                        "y": 2137.852783203125,
                        "z": 361.5735778808594
                    },
                    "rotation": {
                        "roll": 0.011636738665401936,
                        "pitch": -1.7467046976089478,
                        "yaw": -90.14312744140625
                    }
                },
                "velocity": {
                    "x": 6.514720007544383e-05,
                    "y": 0.0038929965812712908,
                    "z": 0.0017745558870956302
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8797085285186768,
                "transform": {
                    "location": {
                        "x": 1985.0911865234375,
                        "y": 2123.25048828125,
                        "z": 361.3178405761719
                    },
                    "rotation": {
                        "roll": -0.0019836127758026123,
                        "pitch": -0.525111734867096,
                        "yaw": -89.94095611572266
                    }
                },
                "velocity": {
                    "x": 0.007858083583414555,
                    "y": -3.8791286945343018,
                    "z": -0.06660376489162445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1714000105857849,
        "expert_target_speed": 10.0,
        "target_point": [
            21.667407821616827,
            0.5933301110128709
        ],
        "target_point_next": [
            26.136262801446055,
            0.551917879569988
        ]
    },
    "125": {
        "acceleration": [
            0.2567276358604431,
            4.618186950683594,
            0.06266951560974121
        ],
        "angular_velocity": [
            1.0130077600479126,
            -0.2895672917366028,
            0.7385817766189575
        ],
        "forward_vector": [
            -0.017149293795228004,
            -0.9995984435081482,
            -0.02255820482969284
        ],
        "right_vector": [
            0.9998528957366943,
            -0.01714092120528221,
            -0.0005644308403134346
        ],
        "location": [
            1984.810546875,
            2098.018310546875,
            360.9053039550781
        ],
        "rotation": [
            0.03234773874282837,
            -1.2925995588302612,
            -90.98287963867188
        ],
        "velocity": [
            -0.13724695146083832,
            -8.823748588562012,
            -0.13883350789546967
        ],
        "speed": 8.82481591195167,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 99.224853515625,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.4004476070404053,
                "transform": {
                    "location": {
                        "x": 1984.938720703125,
                        "y": 2158.50244140625,
                        "z": 361.97900390625
                    },
                    "rotation": {
                        "roll": -0.006256144028156996,
                        "pitch": -0.9230931997299194,
                        "yaw": -89.55175018310547
                    }
                },
                "velocity": {
                    "x": 0.03794623166322708,
                    "y": -3.399674415588379,
                    "z": -0.061784714460372925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.4310302734375,
                        "y": 2026.2894287109375,
                        "z": 359.87451171875
                    },
                    "rotation": {
                        "roll": -2.6682831943958263e-08,
                        "pitch": 0.7696666717529297,
                        "yaw": 90.11060333251953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.159107208251953,
                "transform": {
                    "location": {
                        "x": 1935.43212890625,
                        "y": 2065.513427734375,
                        "z": 361.1472473144531
                    },
                    "rotation": {
                        "roll": -0.012451172806322575,
                        "pitch": -0.42489922046661377,
                        "yaw": 0.22104424238204956
                    }
                },
                "velocity": {
                    "x": 5.158657073974609,
                    "y": 0.0327233225107193,
                    "z": -0.059809911996126175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011005401611328,
                "transform": {
                    "location": {
                        "x": 1982.1629638671875,
                        "y": 2114.0556640625,
                        "z": 361.16363525390625
                    },
                    "rotation": {
                        "roll": -0.0005493783392012119,
                        "pitch": 0.9885810613632202,
                        "yaw": 90.1272201538086
                    }
                },
                "velocity": {
                    "x": -0.01777772419154644,
                    "y": 8.009852409362793,
                    "z": 0.13471177220344543
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4005848169326782,
                "transform": {
                    "location": {
                        "x": 1985.064697265625,
                        "y": 2137.630615234375,
                        "z": 361.57080078125
                    },
                    "rotation": {
                        "roll": 0.006051342003047466,
                        "pitch": -1.053126335144043,
                        "yaw": -90.13169860839844
                    }
                },
                "velocity": {
                    "x": -0.0001446571695851162,
                    "y": -1.4003797769546509,
                    "z": -0.023967966437339783
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.213459014892578,
                "transform": {
                    "location": {
                        "x": 1985.0931396484375,
                        "y": 2122.105224609375,
                        "z": 361.2980041503906
                    },
                    "rotation": {
                        "roll": -0.0022582674864679575,
                        "pitch": -0.4278566837310791,
                        "yaw": -89.90892791748047
                    }
                },
                "velocity": {
                    "x": 0.011085763573646545,
                    "y": -5.212736129760742,
                    "z": -0.08611863851547241
                },
                "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": 0.22419485449790955,
        "expert_target_speed": 9.101706718615924,
        "target_point": [
            19.28404323105566,
            0.6003173608479008
        ],
        "target_point_next": [
            23.75291288712052,
            0.5605203664855354
        ]
    },
    "130": {
        "acceleration": [
            0.24673745036125183,
            4.53251838684082,
            0.09296700358390808
        ],
        "angular_velocity": [
            0.054231807589530945,
            -0.11781265586614609,
            1.3579257726669312
        ],
        "forward_vector": [
            -0.012037708424031734,
            -0.9996373653411865,
            -0.024088673293590546
        ],
        "right_vector": [
            0.999927282333374,
            -0.012051386758685112,
            0.0004227878525853157
        ],
        "location": [
            1984.7841796875,
            2095.96240234375,
            360.87335205078125
        ],
        "rotation": [
            -0.024230990558862686,
            -1.3803128004074097,
            -90.68992614746094
        ],
        "velocity": [
            -0.07153313606977463,
            -7.712607383728027,
            -0.12018823623657227
        ],
        "speed": 7.7129391054961705,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 98.49138641357422,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.775521755218506,
                "transform": {
                    "location": {
                        "x": 1984.9495849609375,
                        "y": 2157.468994140625,
                        "z": 361.96002197265625
                    },
                    "rotation": {
                        "roll": -0.00848388671875,
                        "pitch": -0.9052731990814209,
                        "yaw": -89.4654769897461
                    }
                },
                "velocity": {
                    "x": 0.05378829315304756,
                    "y": -4.774435043334961,
                    "z": -0.08651494979858398
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.382613658905029,
                "transform": {
                    "location": {
                        "x": 1982.427490234375,
                        "y": 2028.234619140625,
                        "z": 359.9001159667969
                    },
                    "rotation": {
                        "roll": -0.00021363311680033803,
                        "pitch": 0.9544574022293091,
                        "yaw": 90.11090850830078
                    }
                },
                "velocity": {
                    "x": -0.011719430796802044,
                    "y": 6.381829738616943,
                    "z": 0.09933198988437653
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.547605514526367,
                "transform": {
                    "location": {
                        "x": 1936.7840576171875,
                        "y": 2065.523193359375,
                        "z": 361.1300048828125
                    },
                    "rotation": {
                        "roll": -0.012329100631177425,
                        "pitch": -0.6022587418556213,
                        "yaw": 0.33742237091064453
                    }
                },
                "velocity": {
                    "x": 5.547013282775879,
                    "y": 0.039107926189899445,
                    "z": -0.07099795341491699
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02939510345459,
                "transform": {
                    "location": {
                        "x": 1982.1590576171875,
                        "y": 2116.060546875,
                        "z": 361.1976013183594
                    },
                    "rotation": {
                        "roll": -0.00030516297556459904,
                        "pitch": 0.9909033179283142,
                        "yaw": 90.12709045410156
                    }
                },
                "velocity": {
                    "x": -0.017860334366559982,
                    "y": 8.028239250183105,
                    "z": 0.13502641022205353
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5304198265075684,
                "transform": {
                    "location": {
                        "x": 1985.064697265625,
                        "y": 2137.137451171875,
                        "z": 361.56243896484375
                    },
                    "rotation": {
                        "roll": 0.0039335028268396854,
                        "pitch": -0.8776246309280396,
                        "yaw": -90.17916870117188
                    }
                },
                "velocity": {
                    "x": -0.00013965409016236663,
                    "y": -2.530039072036743,
                    "z": -0.04388965666294098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.451906204223633,
                "transform": {
                    "location": {
                        "x": 1985.095947265625,
                        "y": 2120.7509765625,
                        "z": 361.2759704589844
                    },
                    "rotation": {
                        "roll": -0.004486066289246082,
                        "pitch": -0.6769126653671265,
                        "yaw": -89.85497283935547
                    }
                },
                "velocity": {
                    "x": 0.013168196193873882,
                    "y": -5.451109409332275,
                    "z": -0.09226725250482559
                },
                "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": 0.24824392795562744,
        "expert_target_speed": 8.283170826298559,
        "target_point": [
            17.23078302549321,
            0.5033480201040416
        ],
        "target_point_next": [
            21.699390897885145,
            0.44071028024711806
        ]
    },
    "135": {
        "acceleration": [
            0.28859084844589233,
            1.9689178466796875,
            0.035060346126556396
        ],
        "angular_velocity": [
            -0.6804602742195129,
            -0.15756629407405853,
            1.9296029806137085
        ],
        "forward_vector": [
            -0.004559681750833988,
            -0.9997321367263794,
            -0.022691326215863228
        ],
        "right_vector": [
            0.999988853931427,
            -0.004587273113429546,
            0.001164032961241901
        ],
        "location": [
            1984.774658203125,
            2094.144287109375,
            360.84503173828125
        ],
        "rotation": [
            -0.06671136617660522,
            -1.3002288341522217,
            -90.26132202148438
        ],
        "velocity": [
            0.0013383638579398394,
            -6.936949253082275,
            -0.10694882273674011
        ],
        "speed": 6.936949382189304,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 97.8872299194336,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.379097938537598,
                "transform": {
                    "location": {
                        "x": 1984.9639892578125,
                        "y": 2156.1650390625,
                        "z": 361.9371032714844
                    },
                    "rotation": {
                        "roll": -0.00915526319295168,
                        "pitch": -0.9714372754096985,
                        "yaw": -89.40824890136719
                    }
                },
                "velocity": {
                    "x": 0.06172943860292435,
                    "y": -5.3778510093688965,
                    "z": -0.09798447042703629
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.262023448944092,
                "transform": {
                    "location": {
                        "x": 1982.4241943359375,
                        "y": 2029.814453125,
                        "z": 359.9246520996094
                    },
                    "rotation": {
                        "roll": -0.0005188547656871378,
                        "pitch": 0.8257356882095337,
                        "yaw": 90.10987091064453
                    }
                },
                "velocity": {
                    "x": -0.011914059519767761,
                    "y": 6.26139497756958,
                    "z": 0.08792121708393097
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.173177719116211,
                "transform": {
                    "location": {
                        "x": 1938.294921875,
                        "y": 2065.5322265625,
                        "z": 361.1105651855469
                    },
                    "rotation": {
                        "roll": 0.006059471983462572,
                        "pitch": -0.42977598309516907,
                        "yaw": 0.3147149384021759
                    }
                },
                "velocity": {
                    "x": 7.172520637512207,
                    "y": 0.027076713740825653,
                    "z": -0.0932169109582901
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011748313903809,
                "transform": {
                    "location": {
                        "x": 1982.1551513671875,
                        "y": 2118.065673828125,
                        "z": 361.2314758300781
                    },
                    "rotation": {
                        "roll": 0.000995167763903737,
                        "pitch": 0.988048255443573,
                        "yaw": 90.12382507324219
                    }
                },
                "velocity": {
                    "x": -0.017337899655103683,
                    "y": 8.010588645935059,
                    "z": 0.1352447271347046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.06348991394043,
                "transform": {
                    "location": {
                        "x": 1985.0648193359375,
                        "y": 2136.309326171875,
                        "z": 361.5481872558594
                    },
                    "rotation": {
                        "roll": 0.00099482003133744,
                        "pitch": -0.7862503528594971,
                        "yaw": -90.07604217529297
                    }
                },
                "velocity": {
                    "x": 0.003767306450754404,
                    "y": -4.062870025634766,
                    "z": -0.07088114321231842
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.245842456817627,
                "transform": {
                    "location": {
                        "x": 1985.0999755859375,
                        "y": 2119.135009765625,
                        "z": 361.24749755859375
                    },
                    "rotation": {
                        "roll": 0.0008593581151217222,
                        "pitch": -0.4063347578048706,
                        "yaw": -89.91910552978516
                    }
                },
                "velocity": {
                    "x": 0.01517675444483757,
                    "y": -7.244785785675049,
                    "z": -0.12281490117311478
                },
                "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": 0.2669295370578766,
        "expert_target_speed": 7.659606086606175,
        "target_point": [
            15.415925225195751,
            0.37571296707682983
        ],
        "target_point_next": [
            19.88393982298151,
            0.2796642417813341
        ]
    },
    "140": {
        "acceleration": [
            0.19528090953826904,
            0.49480438232421875,
            0.02867087721824646
        ],
        "angular_velocity": [
            -0.7303996086120605,
            0.013725164346396923,
            1.8689565658569336
        ],
        "forward_vector": [
            0.003807944478467107,
            -0.999798595905304,
            -0.01970282569527626
        ],
        "right_vector": [
            0.9999918341636658,
            0.0037803559098392725,
            0.001437293249182403
        ],
        "location": [
            1984.781005859375,
            2092.461181640625,
            360.81866455078125
        ],
        "rotation": [
            -0.08236685395240784,
            -1.1289619207382202,
            -89.78177642822266
        ],
        "velocity": [
            0.05916914343833923,
            -6.635108947753906,
            -0.10162639617919922
        ],
        "speed": 6.635372765421637,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 97.36933135986328,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.9405107498168945,
                "transform": {
                    "location": {
                        "x": 1984.9793701171875,
                        "y": 2154.76806640625,
                        "z": 361.9117126464844
                    },
                    "rotation": {
                        "roll": -0.010437004268169403,
                        "pitch": -1.00204336643219,
                        "yaw": -89.3223876953125
                    }
                },
                "velocity": {
                    "x": 0.07008019089698792,
                    "y": -5.939103126525879,
                    "z": -0.10867845267057419
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.295741558074951,
                "transform": {
                    "location": {
                        "x": 1982.4219970703125,
                        "y": 2031.384033203125,
                        "z": 359.94635009765625
                    },
                    "rotation": {
                        "roll": -0.0008849638397805393,
                        "pitch": 0.7745912075042725,
                        "yaw": 90.10661315917969
                    }
                },
                "velocity": {
                    "x": -0.011730396188795567,
                    "y": 6.29515266418457,
                    "z": 0.085280641913414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.418370246887207,
                "transform": {
                    "location": {
                        "x": 1940.3125,
                        "y": 2065.537841796875,
                        "z": 361.0842590332031
                    },
                    "rotation": {
                        "roll": 0.005112957209348679,
                        "pitch": -0.47275152802467346,
                        "yaw": 0.1639232039451599
                    }
                },
                "velocity": {
                    "x": 8.417617797851562,
                    "y": 0.02051551826298237,
                    "z": -0.11067275702953339
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027389526367188,
                "transform": {
                    "location": {
                        "x": 1982.1512451171875,
                        "y": 2120.069580078125,
                        "z": 361.2654113769531
                    },
                    "rotation": {
                        "roll": 0.0008768498664721847,
                        "pitch": 0.9907803535461426,
                        "yaw": 90.12029266357422
                    }
                },
                "velocity": {
                    "x": -0.016844617202878,
                    "y": 8.026229858398438,
                    "z": 0.1354070007801056
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4194488525390625,
                "transform": {
                    "location": {
                        "x": 1985.0667724609375,
                        "y": 2135.109130859375,
                        "z": 361.5275573730469
                    },
                    "rotation": {
                        "roll": -0.0006408967892639339,
                        "pitch": -0.7818244099617004,
                        "yaw": -89.97041320800781
                    }
                },
                "velocity": {
                    "x": 0.009113924577832222,
                    "y": -5.418649196624756,
                    "z": -0.09263050556182861
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.147226333618164,
                "transform": {
                    "location": {
                        "x": 1985.103759765625,
                        "y": 2117.30078125,
                        "z": 361.21771240234375
                    },
                    "rotation": {
                        "roll": -0.0033569689840078354,
                        "pitch": -0.7374281883239746,
                        "yaw": -89.8674545288086
                    }
                },
                "velocity": {
                    "x": 0.016124598681926727,
                    "y": -7.146177768707275,
                    "z": -0.1213587075471878
                },
                "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": 0.2456410825252533,
        "expert_target_speed": 7.391218366139218,
        "target_point": [
            13.735415200785836,
            0.24657072397954075
        ],
        "target_point_next": [
            18.202467898718552,
            0.11307916039002426
        ]
    },
    "145": {
        "acceleration": [
            0.24147048592567444,
            0.6826400756835938,
            0.007224082946777344
        ],
        "angular_velocity": [
            -0.18193335831165314,
            -0.0563872829079628,
            1.9571342468261719
        ],
        "forward_vector": [
            0.012187434360384941,
            -0.999783992767334,
            -0.016836799681186676
        ],
        "right_vector": [
            0.9999248385429382,
            0.012162228114902973,
            0.0015987358056008816
        ],
        "location": [
            1984.8016357421875,
            2090.78955078125,
            360.7926025390625
        ],
        "rotation": [
            -0.09161384403705597,
            -0.9647231698036194,
            -89.30159759521484
        ],
        "velocity": [
            0.11709967255592346,
            -6.656330585479736,
            -0.10093407332897186
        ],
        "speed": 6.657360527754653,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 96.89488983154297,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.394610404968262,
                "transform": {
                    "location": {
                        "x": 1984.997802734375,
                        "y": 2152.9033203125,
                        "z": 361.8761901855469
                    },
                    "rotation": {
                        "roll": 0.0016817419091239572,
                        "pitch": -0.8416090607643127,
                        "yaw": -89.4395751953125
                    }
                },
                "velocity": {
                    "x": 0.06083056703209877,
                    "y": -8.39297866821289,
                    "z": -0.15391692519187927
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.0708441734313965,
                "transform": {
                    "location": {
                        "x": 1982.41943359375,
                        "y": 2032.939697265625,
                        "z": 359.96722412109375
                    },
                    "rotation": {
                        "roll": -5.33657349421901e-08,
                        "pitch": 0.775363028049469,
                        "yaw": 90.10798645019531
                    }
                },
                "velocity": {
                    "x": -0.012794419191777706,
                    "y": 6.0702738761901855,
                    "z": 0.08222506940364838
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.893979072570801,
                "transform": {
                    "location": {
                        "x": 1942.347412109375,
                        "y": 2065.542236328125,
                        "z": 361.057373046875
                    },
                    "rotation": {
                        "roll": -6.103517080191523e-05,
                        "pitch": -0.7923291921615601,
                        "yaw": 0.1323823630809784
                    }
                },
                "velocity": {
                    "x": 7.893234729766846,
                    "y": 0.015545249916613102,
                    "z": -0.1073053702712059
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012828826904297,
                "transform": {
                    "location": {
                        "x": 1982.1473388671875,
                        "y": 2122.073974609375,
                        "z": 361.2995300292969
                    },
                    "rotation": {
                        "roll": 0.0006794409709982574,
                        "pitch": 1.0024394989013672,
                        "yaw": 90.12026977539062
                    }
                },
                "velocity": {
                    "x": -0.016805080696940422,
                    "y": 8.011662483215332,
                    "z": 0.13569268584251404
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.847908973693848,
                "transform": {
                    "location": {
                        "x": 1985.0689697265625,
                        "y": 2133.69140625,
                        "z": 361.5027770996094
                    },
                    "rotation": {
                        "roll": 9.47536391322501e-05,
                        "pitch": -0.8907181024551392,
                        "yaw": -89.9355239868164
                    }
                },
                "velocity": {
                    "x": 0.010882459580898285,
                    "y": -5.84700870513916,
                    "z": -0.10203168541193008
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.4434590339660645,
                "transform": {
                    "location": {
                        "x": 1985.107666015625,
                        "y": 2115.620849609375,
                        "z": 361.1907043457031
                    },
                    "rotation": {
                        "roll": -0.000183115218533203,
                        "pitch": -1.1064155101776123,
                        "yaw": -89.89594268798828
                    }
                },
                "velocity": {
                    "x": 0.011913670226931572,
                    "y": -6.442522048950195,
                    "z": -0.1092112585902214
                },
                "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": 0.20555970072746277,
        "expert_target_speed": 7.372882442049858,
        "target_point": [
            12.065241516674682,
            0.13116990067280487
        ],
        "target_point_next": [
            16.53101808263566,
            -0.039767124489365674
        ]
    },
    "150": {
        "acceleration": [
            -0.10289013385772705,
            2.2069549560546875,
            0.01282617449760437
        ],
        "angular_velocity": [
            0.32414016127586365,
            0.1883830428123474,
            1.1363449096679688
        ],
        "forward_vector": [
            0.019724801182746887,
            -0.999640703201294,
            -0.018151596188545227
        ],
        "right_vector": [
            0.9998048543930054,
            0.019702482968568802,
            0.0014075142098590732
        ],
        "location": [
            1984.83349609375,
            2089.18994140625,
            360.7686767578125
        ],
        "rotation": [
            -0.08065793663263321,
            -1.0400669574737549,
            -88.86959075927734
        ],
        "velocity": [
            0.14164364337921143,
            -6.162469387054443,
            -0.09487677365541458
        ],
        "speed": 6.1640970034623,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 96.47749328613281,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.17198657989502,
                "transform": {
                    "location": {
                        "x": 1985.013427734375,
                        "y": 2150.80859375,
                        "z": 361.839599609375
                    },
                    "rotation": {
                        "roll": -0.0018005119636654854,
                        "pitch": -1.0052740573883057,
                        "yaw": -89.59709930419922
                    }
                },
                "velocity": {
                    "x": 0.05236261337995529,
                    "y": -8.170498847961426,
                    "z": -0.14691540598869324
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.798948287963867,
                "transform": {
                    "location": {
                        "x": 1982.4168701171875,
                        "y": 2034.39453125,
                        "z": 359.9866638183594
                    },
                    "rotation": {
                        "roll": -0.0008849957375787199,
                        "pitch": 0.7989954948425293,
                        "yaw": 90.11209106445312
                    }
                },
                "velocity": {
                    "x": -0.011294320225715637,
                    "y": 5.798408508300781,
                    "z": 0.07833845168352127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020059585571289,
                "transform": {
                    "location": {
                        "x": 1944.318115234375,
                        "y": 2065.54345703125,
                        "z": 361.0306701660156
                    },
                    "rotation": {
                        "roll": 0.006985983345657587,
                        "pitch": -0.7640659213066101,
                        "yaw": 0.011155074462294579
                    }
                },
                "velocity": {
                    "x": 8.019333839416504,
                    "y": -0.003017846029251814,
                    "z": -0.10782072693109512
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027775764465332,
                "transform": {
                    "location": {
                        "x": 1982.1434326171875,
                        "y": 2124.07861328125,
                        "z": 361.3338623046875
                    },
                    "rotation": {
                        "roll": 0.0006139578181318939,
                        "pitch": 1.005854606628418,
                        "yaw": 90.11660766601562
                    }
                },
                "velocity": {
                    "x": -0.016373664140701294,
                    "y": 8.026557922363281,
                    "z": 0.13888897001743317
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.841593265533447,
                "transform": {
                    "location": {
                        "x": 1985.072509765625,
                        "y": 2131.99755859375,
                        "z": 361.4736328125
                    },
                    "rotation": {
                        "roll": -0.002441400196403265,
                        "pitch": -0.7237268090248108,
                        "yaw": -89.88396453857422
                    }
                },
                "velocity": {
                    "x": 0.016586074605584145,
                    "y": -7.840404033660889,
                    "z": -0.13556216657161713
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.575092315673828,
                "transform": {
                    "location": {
                        "x": 1985.111572265625,
                        "y": 2114.0166015625,
                        "z": 361.1632995605469
                    },
                    "rotation": {
                        "roll": -0.001403829432092607,
                        "pitch": -1.027185320854187,
                        "yaw": -89.86236572265625
                    }
                },
                "velocity": {
                    "x": 0.015567631460726261,
                    "y": -6.574151515960693,
                    "z": -0.11014489084482193
                },
                "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": 0.17687925696372986,
        "expert_target_speed": 6.929444183378214,
        "target_point": [
            10.465960742087281,
            0.039967249889589634
        ],
        "target_point_next": [
            14.930322613052562,
            -0.16461253583935745
        ]
    },
    "155": {
        "acceleration": [
            -0.08557125926017761,
            -0.3038311004638672,
            -0.0069332122802734375
        ],
        "angular_velocity": [
            -0.48761582374572754,
            0.18702195584774017,
            -0.5631669759750366
        ],
        "forward_vector": [
            0.019380589947104454,
            -0.9996566772460938,
            -0.01763085462152958
        ],
        "right_vector": [
            0.999812126159668,
            0.01937909424304962,
            0.0002556256658863276
        ],
        "location": [
            1984.863037109375,
            2087.6796875,
            360.7455749511719
        ],
        "rotation": [
            -0.014648550190031528,
            -1.0102258920669556,
            -88.88933563232422
        ],
        "velocity": [
            0.10554488748311996,
            -5.991573333740234,
            -0.09173870086669922
        ],
        "speed": 5.99250287750126,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 96.10568237304688,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.791512966156006,
                "transform": {
                    "location": {
                        "x": 1985.025634765625,
                        "y": 2148.833984375,
                        "z": 361.8044738769531
                    },
                    "rotation": {
                        "roll": -0.0005798093625344336,
                        "pitch": -1.048399806022644,
                        "yaw": -89.65225219726562
                    }
                },
                "velocity": {
                    "x": 0.03754701837897301,
                    "y": -7.790187358856201,
                    "z": -0.13871945440769196
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.446639537811279,
                "transform": {
                    "location": {
                        "x": 1982.4136962890625,
                        "y": 2035.9140625,
                        "z": 360.0079345703125
                    },
                    "rotation": {
                        "roll": 0.0004812992410734296,
                        "pitch": 0.7173542380332947,
                        "yaw": 90.11466217041016
                    }
                },
                "velocity": {
                    "x": -0.012308845296502113,
                    "y": 6.446034908294678,
                    "z": 0.0874398797750473
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.981496334075928,
                "transform": {
                    "location": {
                        "x": 1946.34375,
                        "y": 2065.541748046875,
                        "z": 361.00341796875
                    },
                    "rotation": {
                        "roll": 0.00322092161513865,
                        "pitch": -0.7799050807952881,
                        "yaw": -0.0350341722369194
                    }
                },
                "velocity": {
                    "x": 7.980770111083984,
                    "y": -0.00837189331650734,
                    "z": -0.10735815018415451
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012104034423828,
                "transform": {
                    "location": {
                        "x": 1982.1395263671875,
                        "y": 2126.08251953125,
                        "z": 361.3683166503906
                    },
                    "rotation": {
                        "roll": 0.0004286603070795536,
                        "pitch": 1.0053013563156128,
                        "yaw": 90.11656188964844
                    }
                },
                "velocity": {
                    "x": -0.016299782320857048,
                    "y": 8.010894775390625,
                    "z": 0.13820616900920868
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040608406066895,
                "transform": {
                    "location": {
                        "x": 1985.0771484375,
                        "y": 2129.961181640625,
                        "z": 361.4383544921875
                    },
                    "rotation": {
                        "roll": -0.0016480108024552464,
                        "pitch": -0.8950142860412598,
                        "yaw": -89.86375427246094
                    }
                },
                "velocity": {
                    "x": 0.019899388775229454,
                    "y": -8.039395332336426,
                    "z": -0.13824914395809174
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.81097936630249,
                "transform": {
                    "location": {
                        "x": 1985.115478515625,
                        "y": 2112.321044921875,
                        "z": 361.134521484375
                    },
                    "rotation": {
                        "roll": 0.0011354456655681133,
                        "pitch": -0.900266706943512,
                        "yaw": -89.89689636230469
                    }
                },
                "velocity": {
                    "x": 0.013143827207386494,
                    "y": -6.810037136077881,
                    "z": -0.11254295706748962
                },
                "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": 0.16058103740215302,
        "expert_target_speed": 6.800552854816679,
        "target_point": [
            8.955403452656254,
            0.04334179450806827
        ],
        "target_point_next": [
            13.419836133579821,
            -0.15968687627305256
        ]
    },
    "160": {
        "acceleration": [
            -0.04203826189041138,
            -0.7754802703857422,
            0.00040397047996520996
        ],
        "angular_velocity": [
            -0.47096094489097595,
            -0.0017191156512126327,
            -0.7061488628387451
        ],
        "forward_vector": [
            0.015773000195622444,
            -0.9997574687004089,
            -0.015368451364338398
        ],
        "right_vector": [
            0.9998754858970642,
            0.015777412801980972,
            -0.0001659695990383625
        ],
        "location": [
            1984.88623046875,
            2086.166259765625,
            360.72216796875
        ],
        "rotation": [
            0.009510480798780918,
            -0.8805820941925049,
            -89.09613037109375
        ],
        "velocity": [
            0.08305249363183975,
            -6.148505210876465,
            -0.09248443692922592
        ],
        "speed": 6.149066111603737,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 95.74934387207031,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.206099510192871,
                "transform": {
                    "location": {
                        "x": 1985.0343017578125,
                        "y": 2146.829833984375,
                        "z": 361.7684326171875
                    },
                    "rotation": {
                        "roll": -0.0006103276391513646,
                        "pitch": -1.0000898838043213,
                        "yaw": -89.73995208740234
                    }
                },
                "velocity": {
                    "x": 0.03270260989665985,
                    "y": -8.20473575592041,
                    "z": -0.14597579836845398
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.109172344207764,
                "transform": {
                    "location": {
                        "x": 1982.409912109375,
                        "y": 2037.5146484375,
                        "z": 360.029052734375
                    },
                    "rotation": {
                        "roll": -0.0006714776391163468,
                        "pitch": 0.7960926294326782,
                        "yaw": 90.11564636230469
                    }
                },
                "velocity": {
                    "x": -0.012311242520809174,
                    "y": 6.108595371246338,
                    "z": 0.08304471522569656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.312371730804443,
                "transform": {
                    "location": {
                        "x": 1948.2491455078125,
                        "y": 2065.539306640625,
                        "z": 360.9771423339844
                    },
                    "rotation": {
                        "roll": 0.003670009085908532,
                        "pitch": -0.9092074036598206,
                        "yaw": -0.1001892015337944
                    }
                },
                "velocity": {
                    "x": 7.311628818511963,
                    "y": -0.015053431503474712,
                    "z": -0.10314562916755676
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028181076049805,
                "transform": {
                    "location": {
                        "x": 1982.1356201171875,
                        "y": 2128.0869140625,
                        "z": 361.40277099609375
                    },
                    "rotation": {
                        "roll": -0.0009460732690058649,
                        "pitch": 1.00491201877594,
                        "yaw": 90.11837768554688
                    }
                },
                "velocity": {
                    "x": -0.017777912318706512,
                    "y": 8.02696704864502,
                    "z": 0.1385176032781601
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.924062252044678,
                "transform": {
                    "location": {
                        "x": 1985.0810546875,
                        "y": 2128.09814453125,
                        "z": 361.4060974121094
                    },
                    "rotation": {
                        "roll": -0.00021369625756051391,
                        "pitch": -1.1005209684371948,
                        "yaw": -89.86451721191406
                    }
                },
                "velocity": {
                    "x": 0.016685662791132927,
                    "y": -6.923022747039795,
                    "z": -0.11879714578390121
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.367845058441162,
                "transform": {
                    "location": {
                        "x": 1985.119140625,
                        "y": 2110.6767578125,
                        "z": 361.10797119140625
                    },
                    "rotation": {
                        "roll": 0.0005013541667722166,
                        "pitch": -1.0383594036102295,
                        "yaw": -89.87353515625
                    }
                },
                "velocity": {
                    "x": 0.012292632833123207,
                    "y": -6.366949558258057,
                    "z": -0.10605842620134354
                },
                "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": 0.15392790734767914,
        "expert_target_speed": 6.766193132319648,
        "target_point": [
            11.906720009434023,
            -0.11054294713523773
        ],
        "target_point_next": [
            23.375073265897836,
            -11.835245367562628
        ]
    },
    "165": {
        "acceleration": [
            0.007625222206115723,
            -1.3591670989990234,
            -0.020301789045333862
        ],
        "angular_velocity": [
            -0.20616324245929718,
            -0.05093301460146904,
            -0.505201518535614
        ],
        "forward_vector": [
            0.012871228158473969,
            -0.9998248815536499,
            -0.013582289218902588
        ],
        "right_vector": [
            0.9999170899391174,
            0.012875048443675041,
            -0.00019383570179343224
        ],
        "location": [
            1984.90576171875,
            2084.583740234375,
            360.6980285644531
        ],
        "rotation": [
            0.01110699214041233,
            -0.7782317399978638,
            -89.26244354248047
        ],
        "velocity": [
            0.07383749634027481,
            -6.480266094207764,
            -0.09668763726949692
        ],
        "speed": 6.480686740431492,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 95.39640808105469,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 1933.231201171875,
                        "y": 2065.501708984375,
                        "z": 361.256591796875
                    },
                    "rotation": {
                        "roll": 2.0845801473878822e-10,
                        "pitch": -0.7359254956245422,
                        "yaw": -0.205841064453125
                    }
                },
                "velocity": {
                    "x": -2.527019660192309e-08,
                    "y": 9.078620494262779e-11,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.990463733673096,
                "transform": {
                    "location": {
                        "x": 1985.04248046875,
                        "y": 2144.798583984375,
                        "z": 361.732421875
                    },
                    "rotation": {
                        "roll": -0.001525888335891068,
                        "pitch": -1.0335441827774048,
                        "yaw": -89.77336883544922
                    }
                },
                "velocity": {
                    "x": 0.031538259238004684,
                    "y": -7.98915433883667,
                    "z": -0.1411643773317337
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.238498210906982,
                "transform": {
                    "location": {
                        "x": 1982.407470703125,
                        "y": 2038.9190673828125,
                        "z": 360.0477294921875
                    },
                    "rotation": {
                        "roll": 0.0006416280521079898,
                        "pitch": 0.8497301340103149,
                        "yaw": 90.11682891845703
                    }
                },
                "velocity": {
                    "x": -0.010655711404979229,
                    "y": 5.238000869750977,
                    "z": 0.07140810042619705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.049191474914551,
                "transform": {
                    "location": {
                        "x": 1950.03271484375,
                        "y": 2065.53515625,
                        "z": 360.9519958496094
                    },
                    "rotation": {
                        "roll": 0.0021029366180300713,
                        "pitch": -0.9155868291854858,
                        "yaw": -0.11285398155450821
                    }
                },
                "velocity": {
                    "x": 7.048473834991455,
                    "y": -0.016637863591313362,
                    "z": -0.09918002784252167
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01185417175293,
                "transform": {
                    "location": {
                        "x": 1982.1317138671875,
                        "y": 2130.090576171875,
                        "z": 361.4371643066406
                    },
                    "rotation": {
                        "roll": -0.0003967454540543258,
                        "pitch": 1.0038533210754395,
                        "yaw": 90.12425231933594
                    }
                },
                "velocity": {
                    "x": -0.0174204483628273,
                    "y": 8.01065444946289,
                    "z": 0.13751819729804993
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.903745651245117,
                "transform": {
                    "location": {
                        "x": 1985.0843505859375,
                        "y": 2126.663818359375,
                        "z": 361.3810729980469
                    },
                    "rotation": {
                        "roll": 0.0001960423105629161,
                        "pitch": -1.2666926383972168,
                        "yaw": -89.9537124633789
                    }
                },
                "velocity": {
                    "x": 0.00783438142389059,
                    "y": -4.902959823608398,
                    "z": -0.08743879944086075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.120284080505371,
                "transform": {
                    "location": {
                        "x": 1985.1214599609375,
                        "y": 2109.135498046875,
                        "z": 361.0828552246094
                    },
                    "rotation": {
                        "roll": 0.0012135310098528862,
                        "pitch": -1.0708916187286377,
                        "yaw": -89.90972137451172
                    }
                },
                "velocity": {
                    "x": 0.010178733617067337,
                    "y": -6.119454860687256,
                    "z": -0.10023771226406097
                },
                "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": 0.1406990885734558,
        "expert_target_speed": 6.849227282746863,
        "target_point": [
            10.324350388483477,
            -0.07521208417928124
        ],
        "target_point_next": [
            21.826610589166844,
            -11.766652694232238
        ]
    },
    "170": {
        "acceleration": [
            -0.020716935396194458,
            2.4386024475097656,
            0.012503117322921753
        ],
        "angular_velocity": [
            0.8614922165870667,
            -0.009444846771657467,
            -0.00448757316917181
        ],
        "forward_vector": [
            0.012112428434193134,
            -0.9998111724853516,
            -0.015196572057902813
        ],
        "right_vector": [
            0.9999266266822815,
            0.01211254857480526,
            8.41459259390831e-05
        ],
        "location": [
            1984.925537109375,
            2082.974609375,
            360.6744689941406
        ],
        "rotation": [
            -0.0048217629082500935,
            -0.8707329630851746,
            -89.30591583251953
        ],
        "velocity": [
            0.07560278475284576,
            -6.267343997955322,
            -0.0948537215590477
        ],
        "speed": 6.2677999784429135,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 95.06311798095703,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.925537109375,
                        "y": 2158.59521484375,
                        "z": 362.0605773925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.23348796367645264,
                "transform": {
                    "location": {
                        "x": 1933.2296142578125,
                        "y": 2065.501708984375,
                        "z": 361.1145324707031
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.7372096180915833,
                        "yaw": -0.205841064453125
                    }
                },
                "velocity": {
                    "x": 0.003024179022759199,
                    "y": -0.00016141805099323392,
                    "z": 0.23346832394599915
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.000864028930664,
                "transform": {
                    "location": {
                        "x": 1985.0496826171875,
                        "y": 2142.81005859375,
                        "z": 361.6969909667969
                    },
                    "rotation": {
                        "roll": 0.00021918849961366504,
                        "pitch": -1.0309418439865112,
                        "yaw": -89.803466796875
                    }
                },
                "velocity": {
                    "x": 0.023027479648590088,
                    "y": -7.99957275390625,
                    "z": -0.14189393818378448
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.597278594970703,
                "transform": {
                    "location": {
                        "x": 1982.4052734375,
                        "y": 2040.2503662109375,
                        "z": 360.0665588378906
                    },
                    "rotation": {
                        "roll": 0.0002558882115408778,
                        "pitch": 0.7668457627296448,
                        "yaw": 90.14847564697266
                    }
                },
                "velocity": {
                    "x": -0.012486174702644348,
                    "y": 5.59674596786499,
                    "z": 0.07620235532522202
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.816533088684082,
                "transform": {
                    "location": {
                        "x": 1951.7720947265625,
                        "y": 2065.531494140625,
                        "z": 360.926513671875
                    },
                    "rotation": {
                        "roll": 0.0004637849924620241,
                        "pitch": -0.9038730263710022,
                        "yaw": -0.1614989936351776
                    }
                },
                "velocity": {
                    "x": 6.81575870513916,
                    "y": -0.0186868105083704,
                    "z": -0.10103201866149902
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027973175048828,
                "transform": {
                    "location": {
                        "x": 1982.1278076171875,
                        "y": 2132.0947265625,
                        "z": 361.4716796875
                    },
                    "rotation": {
                        "roll": -3.0473760489257984e-05,
                        "pitch": 1.0080265998840332,
                        "yaw": 90.12447357177734
                    }
                },
                "velocity": {
                    "x": -0.017412925139069557,
                    "y": 8.026750564575195,
                    "z": 0.13899751007556915
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.250462055206299,
                "transform": {
                    "location": {
                        "x": 1985.086181640625,
                        "y": 2125.380859375,
                        "z": 361.3595886230469
                    },
                    "rotation": {
                        "roll": 5.993388913339004e-05,
                        "pitch": -1.0283191204071045,
                        "yaw": -89.9164047241211
                    }
                },
                "velocity": {
                    "x": 0.010475642047822475,
                    "y": -5.249691009521484,
                    "z": -0.08935744315385818
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.860833644866943,
                "transform": {
                    "location": {
                        "x": 1985.1251220703125,
                        "y": 2107.51611328125,
                        "z": 361.0553894042969
                    },
                    "rotation": {
                        "roll": -0.0010375435231253505,
                        "pitch": -0.8033394813537598,
                        "yaw": -89.8766098022461
                    }
                },
                "velocity": {
                    "x": 0.012727342545986176,
                    "y": -6.859913349151611,
                    "z": -0.11164866387844086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.9945787787437439,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12388715147972107,
        "expert_target_speed": 6.392500803565165,
        "target_point": [
            8.715152440599544,
            -0.06761366175471935
        ],
        "target_point_next": [
            20.22633253790578,
            -11.750272007782
        ]
    },
    "175": {
        "acceleration": [
            -0.06512686610221863,
            5.615777969360352,
            0.0857803225517273
        ],
        "angular_velocity": [
            1.639825701713562,
            0.004902811720967293,
            0.0313648022711277
        ],
        "forward_vector": [
            0.012197395786643028,
            -0.9997406601905823,
            -0.019228465855121613
        ],
        "right_vector": [
            0.9999256134033203,
            0.012196630239486694,
            0.00015709733997937292
        ],
        "location": [
            1984.9442138671875,
            2081.482666015625,
            360.6529541015625
        ],
        "rotation": [
            -0.009002679027616978,
            -1.1017777919769287,
            -89.30099487304688
        ],
        "velocity": [
            0.06616760790348053,
            -5.400603294372559,
            -0.08091559261083603
        ],
        "speed": 5.401008618353002,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.77781677246094,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9293212890625,
                        "y": 2156.632568359375,
                        "z": 361.9735412597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.09495393931865692,
                "transform": {
                    "location": {
                        "x": 1933.2296142578125,
                        "y": 2065.501708984375,
                        "z": 361.1623840332031
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.7367861270904541,
                        "yaw": -0.2059020847082138
                    }
                },
                "velocity": {
                    "x": 0.001244209473952651,
                    "y": -1.670128585828934e-05,
                    "z": 0.09494578093290329
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.369353294372559,
                "transform": {
                    "location": {
                        "x": 1985.0555419921875,
                        "y": 2140.8642578125,
                        "z": 361.6630859375
                    },
                    "rotation": {
                        "roll": -0.001312313717789948,
                        "pitch": -1.05810546875,
                        "yaw": -89.8305892944336
                    }
                },
                "velocity": {
                    "x": 0.02177034132182598,
                    "y": -7.36818265914917,
                    "z": -0.12952901422977448
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.114668369293213,
                "transform": {
                    "location": {
                        "x": 1982.4024658203125,
                        "y": 2041.606201171875,
                        "z": 360.084716796875
                    },
                    "rotation": {
                        "roll": 0.0005166370538063347,
                        "pitch": 0.8019871115684509,
                        "yaw": 90.1497802734375
                    }
                },
                "velocity": {
                    "x": -0.011530748568475246,
                    "y": 5.114180088043213,
                    "z": 0.0697251483798027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.392948627471924,
                "transform": {
                    "location": {
                        "x": 1953.41943359375,
                        "y": 2065.52734375,
                        "z": 360.9022521972656
                    },
                    "rotation": {
                        "roll": 0.0005200367304496467,
                        "pitch": -0.9290149807929993,
                        "yaw": -0.1470947265625
                    }
                },
                "velocity": {
                    "x": 6.392222881317139,
                    "y": -0.01825946569442749,
                    "z": -0.09459519386291504
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012359619140625,
                "transform": {
                    "location": {
                        "x": 1982.1239013671875,
                        "y": 2134.0986328125,
                        "z": 361.5063171386719
                    },
                    "rotation": {
                        "roll": 0.00025345059111714363,
                        "pitch": 1.0170902013778687,
                        "yaw": 90.12434387207031
                    }
                },
                "velocity": {
                    "x": -0.017411375418305397,
                    "y": 8.011136054992676,
                    "z": 0.13897152245044708
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.027271747589111,
                "transform": {
                    "location": {
                        "x": 1985.0885009765625,
                        "y": 2124.017822265625,
                        "z": 361.3363342285156
                    },
                    "rotation": {
                        "roll": 0.0010370425879955292,
                        "pitch": -0.9229087829589844,
                        "yaw": -89.94029998779297
                    }
                },
                "velocity": {
                    "x": 0.011887683533132076,
                    "y": -6.026352882385254,
                    "z": -0.1045679822564125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.729947566986084,
                "transform": {
                    "location": {
                        "x": 1985.129150390625,
                        "y": 2105.788330078125,
                        "z": 361.0275573730469
                    },
                    "rotation": {
                        "roll": 2.8204600312164985e-05,
                        "pitch": -0.8883001804351807,
                        "yaw": -89.90765380859375
                    }
                },
                "velocity": {
                    "x": 0.012550286948680878,
                    "y": -6.729037284851074,
                    "z": -0.10998747497797012
                },
                "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": 0.10610036551952362,
        "expert_target_speed": 5.563047060927605,
        "target_point": [
            18.73329277545607,
            -11.75243613426852
        ],
        "target_point_next": [
            17.928156625695078,
            -62.74604289052297
        ]
    },
    "180": {
        "acceleration": [
            -0.15179574489593506,
            19.288360595703125,
            0.2907373309135437
        ],
        "angular_velocity": [
            4.5592851638793945,
            -0.11358608305454254,
            -0.9313963651657104
        ],
        "forward_vector": [
            0.009540239349007607,
            -0.9992541670799255,
            -0.037417616695165634
        ],
        "right_vector": [
            0.9999544024467468,
            0.009545589797198772,
            3.56622040271759e-05
        ],
        "location": [
            1984.953369140625,
            2080.6689453125,
            360.6444091796875
        ],
        "rotation": [
            -0.0020447256974875927,
            -2.14437198638916,
            -89.45299530029297
        ],
        "velocity": [
            0.012139437720179558,
            -1.037408471107483,
            -0.015966614708304405
        ],
        "speed": 1.0374794946762693,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.6307144165039,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9329833984375,
                        "y": 2154.8251953125,
                        "z": 361.8934326171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9704465866088867,
                "transform": {
                    "location": {
                        "x": 1933.443115234375,
                        "y": 2065.50244140625,
                        "z": 361.16741943359375
                    },
                    "rotation": {
                        "roll": -0.0034179682843387127,
                        "pitch": -0.6968090534210205,
                        "yaw": -0.104095458984375
                    }
                },
                "velocity": {
                    "x": 1.9702633619308472,
                    "y": 0.012762585654854774,
                    "z": -0.02364952117204666
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.327038764953613,
                "transform": {
                    "location": {
                        "x": 1985.0599365234375,
                        "y": 2139.057861328125,
                        "z": 361.6312561035156
                    },
                    "rotation": {
                        "roll": -0.0007018602336756885,
                        "pitch": -1.022458791732788,
                        "yaw": -89.84642791748047
                    }
                },
                "velocity": {
                    "x": 0.01966775767505169,
                    "y": -7.325888633728027,
                    "z": -0.12832291424274445
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.9030351638793945,
                "transform": {
                    "location": {
                        "x": 1982.39990234375,
                        "y": 2042.841796875,
                        "z": 360.1011962890625
                    },
                    "rotation": {
                        "roll": 0.001777811092324555,
                        "pitch": 0.8029501438140869,
                        "yaw": 90.1414794921875
                    }
                },
                "velocity": {
                    "x": -0.012120965868234634,
                    "y": 4.902566909790039,
                    "z": 0.06665914505720139
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.157408714294434,
                "transform": {
                    "location": {
                        "x": 1954.9837646484375,
                        "y": 2065.5224609375,
                        "z": 360.8793029785156
                    },
                    "rotation": {
                        "roll": 0.0014825622783973813,
                        "pitch": -0.9058196544647217,
                        "yaw": -0.1918029636144638
                    }
                },
                "velocity": {
                    "x": 6.156705856323242,
                    "y": -0.020133476704359055,
                    "z": -0.09085880219936371
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027281761169434,
                "transform": {
                    "location": {
                        "x": 1982.1199951171875,
                        "y": 2136.1025390625,
                        "z": 361.5411376953125
                    },
                    "rotation": {
                        "roll": 0.0005588298081420362,
                        "pitch": 1.0186748504638672,
                        "yaw": 90.12440490722656
                    }
                },
                "velocity": {
                    "x": -0.017448846250772476,
                    "y": 8.026068687438965,
                    "z": 0.13844260573387146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.950676918029785,
                "transform": {
                    "location": {
                        "x": 1985.0924072265625,
                        "y": 2122.204345703125,
                        "z": 361.3053894042969
                    },
                    "rotation": {
                        "roll": 0.000482529605505988,
                        "pitch": -0.7450506687164307,
                        "yaw": -89.89562225341797
                    }
                },
                "velocity": {
                    "x": 0.015966424718499184,
                    "y": -7.949504852294922,
                    "z": -0.1355886310338974
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.96178674697876,
                "transform": {
                    "location": {
                        "x": 1985.1314697265625,
                        "y": 2104.242919921875,
                        "z": 361.0040588378906
                    },
                    "rotation": {
                        "roll": -0.0008850056328810751,
                        "pitch": -1.3045387268066406,
                        "yaw": -89.92440795898438
                    }
                },
                "velocity": {
                    "x": 0.010394373908638954,
                    "y": -4.961134910583496,
                    "z": -0.07974778860807419
                },
                "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": 0.10813095420598984,
        "expert_target_speed": 1.7254236445997664,
        "target_point": [
            17.950499807302798,
            -11.704291308755717
        ],
        "target_point_next": [
            17.28006330860311,
            -62.699846890908
        ]
    },
    "185": {
        "acceleration": [
            -0.00014067001757211983,
            -0.0042169541120529175,
            0.006368738599121571
        ],
        "angular_velocity": [
            -3.588000535964966,
            -0.029797732830047607,
            -0.0031293563079088926
        ],
        "forward_vector": [
            0.009237642399966717,
            -0.9994210600852966,
            -0.032743558287620544
        ],
        "right_vector": [
            0.9999573230743408,
            0.009238866157829762,
            0.00011392309534130618
        ],
        "location": [
            1984.953857421875,
            2080.649658203125,
            360.64306640625
        ],
        "rotation": [
            -0.006530814338475466,
            -1.8764030933380127,
            -89.47042846679688
        ],
        "velocity": [
            -3.249085057177581e-05,
            0.010898740030825138,
            0.001274803071282804
        ],
        "speed": 0.010898788460874043,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.6275863647461,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9364013671875,
                        "y": 2152.906494140625,
                        "z": 361.84771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0313106775283813,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0291123390197754,
                "transform": {
                    "location": {
                        "x": 1934.0867919921875,
                        "y": 2065.50537109375,
                        "z": 361.1585388183594
                    },
                    "rotation": {
                        "roll": -0.004364013206213713,
                        "pitch": -0.7060775756835938,
                        "yaw": 0.048549484461545944
                    }
                },
                "velocity": {
                    "x": 3.0287585258483887,
                    "y": 0.021013669669628143,
                    "z": -0.04125222936272621
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.220186233520508,
                "transform": {
                    "location": {
                        "x": 1985.06494140625,
                        "y": 2137.111083984375,
                        "z": 361.5965270996094
                    },
                    "rotation": {
                        "roll": -3.0526403861586004e-05,
                        "pitch": -0.9275532960891724,
                        "yaw": -89.85631561279297
                    }
                },
                "velocity": {
                    "x": 0.020267903804779053,
                    "y": -8.21891975402832,
                    "z": -0.14286275207996368
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.598808765411377,
                "transform": {
                    "location": {
                        "x": 1982.3978271484375,
                        "y": 2044.028076171875,
                        "z": 360.1176452636719
                    },
                    "rotation": {
                        "roll": 0.00047842791536822915,
                        "pitch": 0.8105999827384949,
                        "yaw": 90.13824462890625
                    }
                },
                "velocity": {
                    "x": -0.011078312061727047,
                    "y": 4.598339080810547,
                    "z": 0.06477571278810501
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.891775608062744,
                "transform": {
                    "location": {
                        "x": 1956.4918212890625,
                        "y": 2065.517333984375,
                        "z": 360.8565673828125
                    },
                    "rotation": {
                        "roll": 0.0022116252221167088,
                        "pitch": -0.9291037321090698,
                        "yaw": -0.1725769191980362
                    }
                },
                "velocity": {
                    "x": 5.891022205352783,
                    "y": -0.019562527537345886,
                    "z": -0.09215983003377914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012212753295898,
                "transform": {
                    "location": {
                        "x": 1982.1160888671875,
                        "y": 2138.1064453125,
                        "z": 361.5760498046875
                    },
                    "rotation": {
                        "roll": -6.105446664150804e-05,
                        "pitch": 1.0186611413955688,
                        "yaw": 90.12438201904297
                    }
                },
                "velocity": {
                    "x": -0.017416374757885933,
                    "y": 8.010988235473633,
                    "z": 0.13895462453365326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.894270420074463,
                "transform": {
                    "location": {
                        "x": 1985.0965576171875,
                        "y": 2120.1767578125,
                        "z": 361.2706298828125
                    },
                    "rotation": {
                        "roll": -0.0021056279074400663,
                        "pitch": -0.926842987537384,
                        "yaw": -89.8491439819336
                    }
                },
                "velocity": {
                    "x": 0.018204012885689735,
                    "y": -7.89310359954834,
                    "z": -0.1344987004995346
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.590961456298828,
                "transform": {
                    "location": {
                        "x": 1985.1328125,
                        "y": 2103.334228515625,
                        "z": 360.99029541015625
                    },
                    "rotation": {
                        "roll": 0.0038626855239272118,
                        "pitch": -1.593804121017456,
                        "yaw": -89.76866912841797
                    }
                },
                "velocity": {
                    "x": 0.007679605390876532,
                    "y": -3.590498685836792,
                    "z": -0.05713297799229622
                },
                "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": 0.10828959196805954,
        "expert_target_speed": 0.7726571599711792,
        "target_point": [
            17.934920011814924,
            -11.69890796429161
        ],
        "target_point_next": [
            17.28065630165559,
            -62.69467360447727
        ]
    },
    "190": {
        "acceleration": [
            0.026014419272542,
            -2.2313663959503174,
            -0.04003257304430008
        ],
        "angular_velocity": [
            -2.0879108905792236,
            -0.06706839054822922,
            0.15058563649654388
        ],
        "forward_vector": [
            0.009255019947886467,
            -0.9997408986091614,
            -0.02079622820019722
        ],
        "right_vector": [
            0.9999571442604065,
            0.00925426371395588,
            0.00013259703700896353
        ],
        "location": [
            1984.9539794921875,
            2080.6298828125,
            360.6404113769531
        ],
        "rotation": [
            -0.00759889418259263,
            -1.191622018814087,
            -89.4696044921875
        ],
        "velocity": [
            0.0019484508084133267,
            -0.170756533741951,
            -0.0015567302471026778
        ],
        "speed": 0.17076764996953858,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.62403106689453,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9403076171875,
                        "y": 2150.884521484375,
                        "z": 361.8089294433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0313106775283813,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.823434591293335,
                "transform": {
                    "location": {
                        "x": 1934.9481201171875,
                        "y": 2065.51025390625,
                        "z": 361.1473083496094
                    },
                    "rotation": {
                        "roll": -0.005401610862463713,
                        "pitch": -0.7158789038658142,
                        "yaw": 0.19194938242435455
                    }
                },
                "velocity": {
                    "x": 3.823017120361328,
                    "y": 0.02774527668952942,
                    "z": -0.049215562641620636
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.605453014373779,
                "transform": {
                    "location": {
                        "x": 1985.0699462890625,
                        "y": 2135.10693359375,
                        "z": 361.5626525878906
                    },
                    "rotation": {
                        "roll": -3.047397876798641e-05,
                        "pitch": -1.0310306549072266,
                        "yaw": -89.86627197265625
                    }
                },
                "velocity": {
                    "x": 0.016135871410369873,
                    "y": -7.604278564453125,
                    "z": -0.13268430531024933
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.399748802185059,
                "transform": {
                    "location": {
                        "x": 1982.3958740234375,
                        "y": 2045.1566162109375,
                        "z": 360.13336181640625
                    },
                    "rotation": {
                        "roll": 0.001634687650948763,
                        "pitch": 0.8135232925415039,
                        "yaw": 90.1377182006836
                    }
                },
                "velocity": {
                    "x": -0.010411189869046211,
                    "y": 4.399301052093506,
                    "z": 0.061902523040771484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.574907302856445,
                "transform": {
                    "location": {
                        "x": 1957.9208984375,
                        "y": 2065.51318359375,
                        "z": 360.8346862792969
                    },
                    "rotation": {
                        "roll": 0.0010246195597574115,
                        "pitch": -0.9721066355705261,
                        "yaw": -0.2033386081457138
                    }
                },
                "velocity": {
                    "x": 5.574223518371582,
                    "y": -0.01886802539229393,
                    "z": -0.08526166528463364
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025994300842285,
                "transform": {
                    "location": {
                        "x": 1982.1121826171875,
                        "y": 2140.110595703125,
                        "z": 361.6109313964844
                    },
                    "rotation": {
                        "roll": -0.0006103308987803757,
                        "pitch": 1.0175751447677612,
                        "yaw": 90.12455749511719
                    }
                },
                "velocity": {
                    "x": -0.01741446740925312,
                    "y": 8.024765014648438,
                    "z": 0.13936105370521545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.811120986938477,
                "transform": {
                    "location": {
                        "x": 1985.1002197265625,
                        "y": 2118.349853515625,
                        "z": 361.2394104003906
                    },
                    "rotation": {
                        "roll": -0.00021358892263378948,
                        "pitch": -1.0920720100402832,
                        "yaw": -89.88912200927734
                    }
                },
                "velocity": {
                    "x": 0.015191037207841873,
                    "y": -6.810136795043945,
                    "z": -0.11479170620441437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.186551570892334,
                "transform": {
                    "location": {
                        "x": 1985.135009765625,
                        "y": 2102.314208984375,
                        "z": 360.9718017578125
                    },
                    "rotation": {
                        "roll": 0.001809136476367712,
                        "pitch": -0.9658501744270325,
                        "yaw": -89.8207015991211
                    }
                },
                "velocity": {
                    "x": 0.008799216710031033,
                    "y": -4.186001777648926,
                    "z": -0.06725409626960754
                },
                "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": 0.10240937769412994,
        "expert_target_speed": 0.9174009955378953,
        "target_point": [
            17.91491814551678,
            -11.699193705957253
        ],
        "target_point_next": [
            17.25966847025889,
            -62.69494668690897
        ]
    },
    "195": {
        "acceleration": [
            0.06427907943725586,
            -4.509402275085449,
            -0.06809385120868683
        ],
        "angular_velocity": [
            -1.2056986093521118,
            -0.014520784839987755,
            0.9328028559684753
        ],
        "forward_vector": [
            0.00955926813185215,
            -0.9998737573623657,
            -0.012692228890955448
        ],
        "right_vector": [
            0.9999542832374573,
            0.009558490477502346,
            0.0001219632031279616
        ],
        "location": [
            1984.95556640625,
            2080.456787109375,
            360.63616943359375
        ],
        "rotation": [
            -0.0069885398261249065,
            -0.7272306680679321,
            -89.45223999023438
        ],
        "velocity": [
            0.011943741701543331,
            -1.1132771968841553,
            -0.016894787549972534
        ],
        "speed": 1.1133412639743825,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.59334564208984,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.601200103759766,
                "transform": {
                    "location": {
                        "x": 1984.9459228515625,
                        "y": 2149.3203125,
                        "z": 361.7751159667969
                    },
                    "rotation": {
                        "roll": -0.0071411398239433765,
                        "pitch": -1.092311143875122,
                        "yaw": -89.79674530029297
                    }
                },
                "velocity": {
                    "x": 0.060145508497953415,
                    "y": -5.599472999572754,
                    "z": -0.12540653347969055
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.594069957733154,
                "transform": {
                    "location": {
                        "x": 1936.0040283203125,
                        "y": 2065.51708984375,
                        "z": 361.13372802734375
                    },
                    "rotation": {
                        "roll": -0.006866454146802425,
                        "pitch": -0.7175523042678833,
                        "yaw": 0.3026476800441742
                    }
                },
                "velocity": {
                    "x": 4.593568325042725,
                    "y": 0.03458081930875778,
                    "z": -0.05843042582273483
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.4259562492370605,
                "transform": {
                    "location": {
                        "x": 1985.073974609375,
                        "y": 2133.34130859375,
                        "z": 361.5326232910156
                    },
                    "rotation": {
                        "roll": 0.000749646162148565,
                        "pitch": -1.1058622598648071,
                        "yaw": -89.88877868652344
                    }
                },
                "velocity": {
                    "x": 0.01252723764628172,
                    "y": -6.424988269805908,
                    "z": -0.11082687973976135
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.1939287185668945,
                "transform": {
                    "location": {
                        "x": 1982.3939208984375,
                        "y": 2046.2274169921875,
                        "z": 360.1481018066406
                    },
                    "rotation": {
                        "roll": 3.362076677149162e-05,
                        "pitch": 0.8187005519866943,
                        "yaw": 90.12648010253906
                    }
                },
                "velocity": {
                    "x": -0.007205737754702568,
                    "y": 4.193497657775879,
                    "z": 0.059695661067962646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.360732555389404,
                "transform": {
                    "location": {
                        "x": 1959.2855224609375,
                        "y": 2065.50927734375,
                        "z": 360.8133239746094
                    },
                    "rotation": {
                        "roll": -0.00036621076287701726,
                        "pitch": -0.9717992544174194,
                        "yaw": -0.1793517768383026
                    }
                },
                "velocity": {
                    "x": 5.360037803649902,
                    "y": -0.018633641302585602,
                    "z": -0.08427339047193527
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.713654518127441,
                "transform": {
                    "location": {
                        "x": 1982.1083984375,
                        "y": 2142.08740234375,
                        "z": 361.6458435058594
                    },
                    "rotation": {
                        "roll": 0.001091436599381268,
                        "pitch": 0.9618135094642639,
                        "yaw": 90.12435150146484
                    }
                },
                "velocity": {
                    "x": -0.016833512112498283,
                    "y": 7.712427616119385,
                    "z": 0.13653670251369476
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4217474460601807,
                "transform": {
                    "location": {
                        "x": 1985.10302734375,
                        "y": 2117.0947265625,
                        "z": 361.2173767089844
                    },
                    "rotation": {
                        "roll": 0.002435444388538599,
                        "pitch": -1.5187335014343262,
                        "yaw": -90.05518341064453
                    }
                },
                "velocity": {
                    "x": 0.006022240500897169,
                    "y": -2.4213638305664062,
                    "z": -0.04267914220690727
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.311610221862793,
                "transform": {
                    "location": {
                        "x": 1985.1370849609375,
                        "y": 2101.398193359375,
                        "z": 360.95794677734375
                    },
                    "rotation": {
                        "roll": -3.0528579372912645e-05,
                        "pitch": -1.1519181728363037,
                        "yaw": -89.85369873046875
                    }
                },
                "velocity": {
                    "x": 0.006203514989465475,
                    "y": -3.31120228767395,
                    "z": -0.051606789231300354
                },
                "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": 0.10480351001024246,
        "expert_target_speed": 1.7260751160564405,
        "target_point": [
            17.738257303256088,
            -11.704571763222042
        ],
        "target_point_next": [
            17.067502789351494,
            -62.700123163449575
        ]
    },
    "200": {
        "acceleration": [
            0.06057288497686386,
            -5.381155014038086,
            -0.08453674614429474
        ],
        "angular_velocity": [
            -0.8151745796203613,
            -0.052558623254299164,
            0.4090687036514282
        ],
        "forward_vector": [
            0.009705017320811749,
            -0.9999189376831055,
            -0.008240248076617718
        ],
        "right_vector": [
            0.9999529123306274,
            0.009704078547656536,
            0.0001539252552902326
        ],
        "location": [
            1984.9603271484375,
            2080.016845703125,
            360.6285705566406
        ],
        "rotation": [
            -0.008819567039608955,
            -0.47213679552078247,
            -89.44391632080078
        ],
        "velocity": [
            0.02555225044488907,
            -2.346524715423584,
            -0.035496000200510025
        ],
        "speed": 2.346663835660432,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.51744842529297,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.395092487335205,
                "transform": {
                    "location": {
                        "x": 1984.9588623046875,
                        "y": 2147.94677734375,
                        "z": 361.7474060058594
                    },
                    "rotation": {
                        "roll": -0.008941690437495708,
                        "pitch": -1.033079743385315,
                        "yaw": -89.48236083984375
                    }
                },
                "velocity": {
                    "x": 0.060779497027397156,
                    "y": -5.393840789794922,
                    "z": -0.09905368834733963
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2410149574279785,
                "transform": {
                    "location": {
                        "x": 1937.2529296875,
                        "y": 2065.52587890625,
                        "z": 361.1179504394531
                    },
                    "rotation": {
                        "roll": -0.010040282271802425,
                        "pitch": -0.7193896174430847,
                        "yaw": 0.39987969398498535
                    }
                },
                "velocity": {
                    "x": 5.240447044372559,
                    "y": 0.039933085441589355,
                    "z": -0.06600163131952286
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.043022155761719,
                "transform": {
                    "location": {
                        "x": 1985.078125,
                        "y": 2131.811767578125,
                        "z": 361.50579833984375
                    },
                    "rotation": {
                        "roll": -0.000884978857357055,
                        "pitch": -1.0524569749832153,
                        "yaw": -89.89682006835938
                    }
                },
                "velocity": {
                    "x": 0.013085850514471531,
                    "y": -6.042121410369873,
                    "z": -0.10349924117326736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9758307933807373,
                "transform": {
                    "location": {
                        "x": 1982.391845703125,
                        "y": 2047.246826171875,
                        "z": 360.1623840332031
                    },
                    "rotation": {
                        "roll": -0.00015262761735357344,
                        "pitch": 0.8188303709030151,
                        "yaw": 90.13108825683594
                    }
                },
                "velocity": {
                    "x": -0.008892261423170567,
                    "y": 3.975425958633423,
                    "z": 0.05603316053748131
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.107876300811768,
                "transform": {
                    "location": {
                        "x": 1960.593994140625,
                        "y": 2065.50537109375,
                        "z": 360.79248046875
                    },
                    "rotation": {
                        "roll": 0.00015422547585330904,
                        "pitch": -0.972284197807312,
                        "yaw": -0.2185058444738388
                    }
                },
                "velocity": {
                    "x": 5.107173442840576,
                    "y": -0.018643135204911232,
                    "z": -0.08266351372003555
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.238906383514404,
                "transform": {
                    "location": {
                        "x": 1982.1043701171875,
                        "y": 2143.94873046875,
                        "z": 361.67913818359375
                    },
                    "rotation": {
                        "roll": 0.0018867660546675324,
                        "pitch": 0.8748652338981628,
                        "yaw": 90.12416076660156
                    }
                },
                "velocity": {
                    "x": -0.01574837602674961,
                    "y": 7.237721920013428,
                    "z": 0.12999489903450012
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.1798582077026367,
                "transform": {
                    "location": {
                        "x": 1985.103759765625,
                        "y": 2116.448974609375,
                        "z": 361.2071533203125
                    },
                    "rotation": {
                        "roll": 0.0018055714899674058,
                        "pitch": -1.079675316810608,
                        "yaw": -90.00823211669922
                    }
                },
                "velocity": {
                    "x": 0.004836268723011017,
                    "y": -3.179408550262451,
                    "z": -0.05326031148433685
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.376107692718506,
                "transform": {
                    "location": {
                        "x": 1985.1390380859375,
                        "y": 2100.566650390625,
                        "z": 360.9443359375
                    },
                    "rotation": {
                        "roll": 0.000497294298838824,
                        "pitch": -1.0141600370407104,
                        "yaw": -89.86495208740234
                    }
                },
                "velocity": {
                    "x": 0.006574369501322508,
                    "y": -3.375684976577759,
                    "z": -0.05301162600517273
                },
                "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": 0.0958091989159584,
        "expert_target_speed": 2.5494730900091724,
        "target_point": [
            17.296624536371283,
            -11.70758720756859
        ],
        "target_point_next": [
            16.61861276682697,
            -62.7030426351999
        ]
    },
    "205": {
        "acceleration": [
            0.0812220573425293,
            -5.9883832931518555,
            -0.07946513593196869
        ],
        "angular_velocity": [
            -0.4958554804325104,
            -0.023109618574380875,
            0.19264476001262665
        ],
        "forward_vector": [
            0.010359915904700756,
            -0.9999370574951172,
            -0.004315958824008703
        ],
        "right_vector": [
            0.9999463558197021,
            0.010359124280512333,
            0.0002055938821285963
        ],
        "location": [
            1984.9693603515625,
            2079.21240234375,
            360.6156921386719
        ],
        "rotation": [
            -0.01177977118641138,
            -0.24728699028491974,
            -89.40640258789062
        ],
        "velocity": [
            0.04630131646990776,
            -4.01086950302124,
            -0.060179319232702255
        ],
        "speed": 4.011136744387144,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.38410186767578,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.663764953613281,
                "transform": {
                    "location": {
                        "x": 1984.973388671875,
                        "y": 2146.5634765625,
                        "z": 361.7225036621094
                    },
                    "rotation": {
                        "roll": -0.011077925562858582,
                        "pitch": -1.0214821100234985,
                        "yaw": -89.33781433105469
                    }
                },
                "velocity": {
                    "x": 0.06686761975288391,
                    "y": -5.662485122680664,
                    "z": -0.10015051811933517
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.188766956329346,
                "transform": {
                    "location": {
                        "x": 1938.6708984375,
                        "y": 2065.53271484375,
                        "z": 361.0997314453125
                    },
                    "rotation": {
                        "roll": -0.009918212890625,
                        "pitch": -0.7171903252601624,
                        "yaw": 0.6341714262962341
                    }
                },
                "velocity": {
                    "x": 6.188170433044434,
                    "y": 0.031586527824401855,
                    "z": -0.0798913761973381
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.137890815734863,
                "transform": {
                    "location": {
                        "x": 1985.08056640625,
                        "y": 2130.22705078125,
                        "z": 361.4774475097656
                    },
                    "rotation": {
                        "roll": 7.055221794871613e-05,
                        "pitch": -0.9242269992828369,
                        "yaw": -89.89494323730469
                    }
                },
                "velocity": {
                    "x": 0.013093464076519012,
                    "y": -7.136799335479736,
                    "z": -0.1241191104054451
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7841477394104004,
                "transform": {
                    "location": {
                        "x": 1982.3900146484375,
                        "y": 2048.216796875,
                        "z": 360.17608642578125
                    },
                    "rotation": {
                        "roll": 0.001317532965913415,
                        "pitch": 0.8158387541770935,
                        "yaw": 90.12500762939453
                    }
                },
                "velocity": {
                    "x": -0.008559043519198895,
                    "y": 3.78376841545105,
                    "z": 0.05288734287023544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.013457298278809,
                "transform": {
                    "location": {
                        "x": 1961.859619140625,
                        "y": 2065.500732421875,
                        "z": 360.7722473144531
                    },
                    "rotation": {
                        "roll": 0.00194543635006994,
                        "pitch": -0.948084831237793,
                        "yaw": -0.216552734375
                    }
                },
                "velocity": {
                    "x": 5.012772560119629,
                    "y": -0.019955560564994812,
                    "z": -0.08041246980428696
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.984920024871826,
                "transform": {
                    "location": {
                        "x": 1982.1004638671875,
                        "y": 2145.72265625,
                        "z": 361.7107849121094
                    },
                    "rotation": {
                        "roll": 0.0011989552294835448,
                        "pitch": 0.9074042439460754,
                        "yaw": 90.12104034423828
                    }
                },
                "velocity": {
                    "x": -0.014732594601809978,
                    "y": 6.983771324157715,
                    "z": 0.12579770386219025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.712883949279785,
                "transform": {
                    "location": {
                        "x": 1985.1058349609375,
                        "y": 2115.4453125,
                        "z": 361.1905822753906
                    },
                    "rotation": {
                        "roll": -0.0012207244290038943,
                        "pitch": -0.8090153932571411,
                        "yaw": -89.94377899169922
                    }
                },
                "velocity": {
                    "x": 0.00844112690538168,
                    "y": -4.7122015953063965,
                    "z": -0.07975327968597412
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.129659652709961,
                "transform": {
                    "location": {
                        "x": 1985.1409912109375,
                        "y": 2099.768798828125,
                        "z": 360.9317932128906
                    },
                    "rotation": {
                        "roll": 0.0006361621781252325,
                        "pitch": -1.020081877708435,
                        "yaw": -89.87911224365234
                    }
                },
                "velocity": {
                    "x": 0.006699360907077789,
                    "y": -3.129263162612915,
                    "z": -0.049364618957042694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08806923031806946,
        "expert_target_speed": 2.6669135701224493,
        "target_point": [
            16.484474760051782,
            -11.719590521665957
        ],
        "target_point_next": [
            15.77313149435566,
            -62.71459189424679
        ]
    },
    "210": {
        "acceleration": [
            -0.024118050932884216,
            3.1130599975585938,
            0.05296394228935242
        ],
        "angular_velocity": [
            2.3849713802337646,
            0.0034865746274590492,
            0.18629975616931915
        ],
        "forward_vector": [
            0.01123419962823391,
            -0.9998906850814819,
            -0.009611696004867554
        ],
        "right_vector": [
            0.9999368190765381,
            0.011232347227633,
            0.0002465969882905483
        ],
        "location": [
            1984.982177734375,
            2078.158935546875,
            360.60107421875
        ],
        "rotation": [
            -0.014129619114100933,
            -0.5507181286811829,
            -89.35628509521484
        ],
        "velocity": [
            0.050080377608537674,
            -4.033777236938477,
            -0.06022045016288757
        ],
        "speed": 4.034088105317536,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.22055053710938,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.173559188842773,
                "transform": {
                    "location": {
                        "x": 1984.989013671875,
                        "y": 2145.204345703125,
                        "z": 361.6984558105469
                    },
                    "rotation": {
                        "roll": -0.012084994465112686,
                        "pitch": -1.0327109098434448,
                        "yaw": -89.2868881225586
                    }
                },
                "velocity": {
                    "x": 0.06359302997589111,
                    "y": -5.1723432540893555,
                    "z": -0.09239169955253601
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.972941875457764,
                "transform": {
                    "location": {
                        "x": 1940.318603515625,
                        "y": 2065.540771484375,
                        "z": 361.078125
                    },
                    "rotation": {
                        "roll": -0.008819580078125,
                        "pitch": -0.7366905212402344,
                        "yaw": 0.49134597182273865
                    }
                },
                "velocity": {
                    "x": 6.972283363342285,
                    "y": 0.023425837978720665,
                    "z": -0.09291946142911911
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.976478576660156,
                "transform": {
                    "location": {
                        "x": 1985.0845947265625,
                        "y": 2128.22998046875,
                        "z": 361.44287109375
                    },
                    "rotation": {
                        "roll": 2.66836721607433e-08,
                        "pitch": -0.8940171003341675,
                        "yaw": -89.89254760742188
                    }
                },
                "velocity": {
                    "x": 0.015120298601686954,
                    "y": -7.975291728973389,
                    "z": -0.13677506148815155
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6017487049102783,
                "transform": {
                    "location": {
                        "x": 1982.3880615234375,
                        "y": 2049.13818359375,
                        "z": 360.1888732910156
                    },
                    "rotation": {
                        "roll": 0.0009664629469625652,
                        "pitch": 0.8155860304832458,
                        "yaw": 90.12858581542969
                    }
                },
                "velocity": {
                    "x": -0.00660422258079052,
                    "y": 3.6013739109039307,
                    "z": 0.051524970680475235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.335056781768799,
                "transform": {
                    "location": {
                        "x": 1963.029052734375,
                        "y": 2065.496337890625,
                        "z": 360.7533264160156
                    },
                    "rotation": {
                        "roll": 0.0003630610881373286,
                        "pitch": -1.0412554740905762,
                        "yaw": -0.2188415229320526
                    }
                },
                "velocity": {
                    "x": 4.334479808807373,
                    "y": -0.01668957993388176,
                    "z": -0.06872879713773727
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.680908679962158,
                "transform": {
                    "location": {
                        "x": 1982.0965576171875,
                        "y": 2147.432861328125,
                        "z": 361.7413635253906
                    },
                    "rotation": {
                        "roll": 0.0012604352086782455,
                        "pitch": 0.9090093374252319,
                        "yaw": 90.11470031738281
                    }
                },
                "velocity": {
                    "x": -0.013356617651879787,
                    "y": 6.679838180541992,
                    "z": 0.1188385933637619
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.460656642913818,
                "transform": {
                    "location": {
                        "x": 1985.1083984375,
                        "y": 2114.12890625,
                        "z": 361.1685791015625
                    },
                    "rotation": {
                        "roll": -0.0010680542327463627,
                        "pitch": -0.847380518913269,
                        "yaw": -89.89871978759766
                    }
                },
                "velocity": {
                    "x": 0.012074877507984638,
                    "y": -5.459871768951416,
                    "z": -0.09178671985864639
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.064977645874023,
                "transform": {
                    "location": {
                        "x": 1985.14306640625,
                        "y": 2098.869873046875,
                        "z": 360.91656494140625
                    },
                    "rotation": {
                        "roll": -0.00021362044208217412,
                        "pitch": -0.7219236493110657,
                        "yaw": -89.88072967529297
                    }
                },
                "velocity": {
                    "x": 0.008438318967819214,
                    "y": -4.064473628997803,
                    "z": -0.06344961374998093
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07810050249099731,
        "expert_target_speed": 0.0,
        "target_point": [
            15.420636899893198,
            -11.735035959562115
        ],
        "target_point_next": [
            14.664531621336124,
            -62.72939328504383
        ]
    },
    "215": {
        "acceleration": [
            -0.03191761672496796,
            3.3217477798461914,
            0.04697330296039581
        ],
        "angular_velocity": [
            1.1221762895584106,
            -0.0159020833671093,
            0.1868404746055603
        ],
        "forward_vector": [
            0.012130415067076683,
            -0.9997707605361938,
            -0.01764146238565445
        ],
        "right_vector": [
            0.9999263882637024,
            0.012127951718866825,
            0.0002465704164933413
        ],
        "location": [
            1984.993408203125,
            2077.26806640625,
            360.5894775390625
        ],
        "rotation": [
            -0.014129644259810448,
            -1.010833740234375,
            -89.30485534667969
        ],
        "velocity": [
            0.0432257205247879,
            -3.1633999347686768,
            -0.047160301357507706
        ],
        "speed": 3.1636952461021517,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.09160614013672,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9249267578125,
                        "y": 2158.991455078125,
                        "z": 362.078125
                    },
                    "rotation": {
                        "roll": -5.336997688232259e-08,
                        "pitch": -1.0597174167633057,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.405084609985352,
                "transform": {
                    "location": {
                        "x": 1985.0042724609375,
                        "y": 2143.905029296875,
                        "z": 361.6752014160156
                    },
                    "rotation": {
                        "roll": -0.010467488318681717,
                        "pitch": -1.022007942199707,
                        "yaw": -89.28500366210938
                    }
                },
                "velocity": {
                    "x": 0.05546048656105995,
                    "y": -5.403936862945557,
                    "z": -0.0965721607208252
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052961349487305,
                "transform": {
                    "location": {
                        "x": 1942.21728515625,
                        "y": 2065.548583984375,
                        "z": 361.0530090332031
                    },
                    "rotation": {
                        "roll": -0.003173828125,
                        "pitch": -0.7500913143157959,
                        "yaw": 0.10052447021007538
                    }
                },
                "velocity": {
                    "x": 8.052230834960938,
                    "y": 0.01083909347653389,
                    "z": -0.10791455209255219
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.801190376281738,
                "transform": {
                    "location": {
                        "x": 1985.08837890625,
                        "y": 2126.38720703125,
                        "z": 361.4127502441406
                    },
                    "rotation": {
                        "roll": 0.000597264792304486,
                        "pitch": -1.0668003559112549,
                        "yaw": -89.89360046386719
                    }
                },
                "velocity": {
                    "x": 0.012466109357774258,
                    "y": -6.800177574157715,
                    "z": -0.11669165641069412
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4220640659332275,
                "transform": {
                    "location": {
                        "x": 1982.3858642578125,
                        "y": 2050.014892578125,
                        "z": 360.2010803222656
                    },
                    "rotation": {
                        "roll": 0.0003829828929156065,
                        "pitch": 0.8148756623268127,
                        "yaw": 90.12071990966797
                    }
                },
                "velocity": {
                    "x": -0.007458492182195187,
                    "y": 3.4217116832733154,
                    "z": 0.04853804409503937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.636083126068115,
                "transform": {
                    "location": {
                        "x": 1964.1785888671875,
                        "y": 2065.492431640625,
                        "z": 360.73492431640625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": -0.9152452945709229,
                        "yaw": -0.2188720405101776
                    }
                },
                "velocity": {
                    "x": 4.6354265213012695,
                    "y": -0.017844444140791893,
                    "z": -0.07596314698457718
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.1793212890625,
                        "y": 2149.083984375,
                        "z": 361.7741394042969
                    },
                    "rotation": {
                        "roll": -5.336949371326227e-08,
                        "pitch": 1.0312765836715698,
                        "yaw": 90.11061096191406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.6906914710998535,
                "transform": {
                    "location": {
                        "x": 1985.11083984375,
                        "y": 2112.687255859375,
                        "z": 361.14447021484375
                    },
                    "rotation": {
                        "roll": 0.00021164861391298473,
                        "pitch": -0.7775828242301941,
                        "yaw": -89.89816284179688
                    }
                },
                "velocity": {
                    "x": 0.013266227208077908,
                    "y": -6.689754962921143,
                    "z": -0.11114703863859177
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.717074394226074,
                "transform": {
                    "location": {
                        "x": 1985.1448974609375,
                        "y": 2097.854736328125,
                        "z": 360.901123046875
                    },
                    "rotation": {
                        "roll": 0.0012391047785058618,
                        "pitch": -0.8792706727981567,
                        "yaw": -89.888427734375
                    }
                },
                "velocity": {
                    "x": 0.006448560394346714,
                    "y": -3.7166075706481934,
                    "z": -0.05855690687894821
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02120017632842064,
        "expert_target_speed": 0,
        "target_point": [
            14.519155051816629,
            -11.749296419298261
        ],
        "target_point_next": [
            13.717266942158615,
            -62.74295435526871
        ]
    },
    "220": {
        "acceleration": [
            -0.039907246828079224,
            3.039546012878418,
            0.05893588066101074
        ],
        "angular_velocity": [
            0.2540509104728699,
            -0.0002861075336113572,
            0.13883787393569946
        ],
        "forward_vector": [
            0.012841066345572472,
            -0.9997133016586304,
            -0.02020876854658127
        ],
        "right_vector": [
            0.9999175667762756,
            0.0128391794860363,
            0.0002231281396234408
        ],
        "location": [
            1985.0028076171875,
            2076.58203125,
            360.5798034667969
        ],
        "rotation": [
            -0.01278691180050373,
            -1.1579560041427612,
            -89.26409149169922
        ],
        "velocity": [
            0.034223172813653946,
            -2.3845319747924805,
            -0.0358426459133625
        ],
        "speed": 2.384777550289578,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.99868774414062,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9271240234375,
                        "y": 2157.77587890625,
                        "z": 362.0242004394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.42774772644043,
                "transform": {
                    "location": {
                        "x": 1985.019287109375,
                        "y": 2142.423095703125,
                        "z": 361.6485595703125
                    },
                    "rotation": {
                        "roll": -0.004608075134456158,
                        "pitch": -0.9885810613632202,
                        "yaw": -89.47986602783203
                    }
                },
                "velocity": {
                    "x": 0.05006909742951393,
                    "y": -6.426566123962402,
                    "z": -0.11262742429971695
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.312499046325684,
                "transform": {
                    "location": {
                        "x": 1944.28369140625,
                        "y": 2065.550048828125,
                        "z": 361.0252685546875
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": -0.7646464705467224,
                        "yaw": -0.1415099948644638
                    }
                },
                "velocity": {
                    "x": 8.31173038482666,
                    "y": -0.013893983326852322,
                    "z": -0.11215627193450928
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2100986242294312,
                "transform": {
                    "location": {
                        "x": 1985.0899658203125,
                        "y": 2125.338623046875,
                        "z": 361.3977355957031
                    },
                    "rotation": {
                        "roll": 0.0002289909025421366,
                        "pitch": -1.4453362226486206,
                        "yaw": -89.85106658935547
                    }
                },
                "velocity": {
                    "x": -0.0006716757197864354,
                    "y": -1.2099215984344482,
                    "z": -0.02068539522588253
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2555572986602783,
                "transform": {
                    "location": {
                        "x": 1982.384033203125,
                        "y": 2050.8486328125,
                        "z": 360.21282958984375
                    },
                    "rotation": {
                        "roll": 0.0004063571977894753,
                        "pitch": 0.8138784766197205,
                        "yaw": 90.12775421142578
                    }
                },
                "velocity": {
                    "x": -0.006970337592065334,
                    "y": 3.2552261352539062,
                    "z": 0.04590735211968422
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.170231342315674,
                "transform": {
                    "location": {
                        "x": 1965.253662109375,
                        "y": 2065.488525390625,
                        "z": 360.71710205078125
                    },
                    "rotation": {
                        "roll": -0.00018310538143850863,
                        "pitch": -1.028804063796997,
                        "yaw": -0.2183837592601776
                    }
                },
                "velocity": {
                    "x": 4.169634819030762,
                    "y": -0.016070760786533356,
                    "z": -0.06867747753858566
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.179931640625,
                        "y": 2150.6826171875,
                        "z": 361.8031921386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0454901456832886,
                        "yaw": 90.11062622070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.733460903167725,
                "transform": {
                    "location": {
                        "x": 1985.11474609375,
                        "y": 2110.931884765625,
                        "z": 361.1151123046875
                    },
                    "rotation": {
                        "roll": -0.0014648247743025422,
                        "pitch": -0.8885461091995239,
                        "yaw": -89.86709594726562
                    }
                },
                "velocity": {
                    "x": 0.014664284884929657,
                    "y": -6.732502460479736,
                    "z": -0.11266010254621506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2285923957824707,
                "transform": {
                    "location": {
                        "x": 1985.1468505859375,
                        "y": 2096.977783203125,
                        "z": 360.88800048828125
                    },
                    "rotation": {
                        "roll": 0.00019501394126564264,
                        "pitch": -1.060489296913147,
                        "yaw": -89.88492584228516
                    }
                },
                "velocity": {
                    "x": 0.006308696698397398,
                    "y": -3.228182554244995,
                    "z": -0.05105498805642128
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.07643242180347443,
        "expert_target_speed": 0,
        "target_point": [
            13.824806106052373,
            -11.76007688711845
        ],
        "target_point_next": [
            12.987128996091327,
            -62.753159469863135
        ]
    },
    "225": {
        "acceleration": [
            0.01131199300289154,
            -0.43151140213012695,
            0.007986463606357574
        ],
        "angular_velocity": [
            -0.8429116010665894,
            0.022121703252196312,
            0.12038657069206238
        ],
        "forward_vector": [
            0.013396992348134518,
            -0.9997220635414124,
            -0.019398782402276993
        ],
        "right_vector": [
            0.999910295009613,
            0.013395401649177074,
            0.00021194758301135153
        ],
        "location": [
            1985.0106201171875,
            2076.054443359375,
            360.5716857910156
        ],
        "rotation": [
            -0.012145987711846828,
            -1.111538052558899,
            -89.23223876953125
        ],
        "velocity": [
            0.030316706746816635,
            -2.0144848823547363,
            -0.029168762266635895
        ],
        "speed": 2.014712992945583,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.93118286132812,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.929931640625,
                        "y": 2156.25341796875,
                        "z": 361.9566955566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.697055339813232,
                "transform": {
                    "location": {
                        "x": 1985.0330810546875,
                        "y": 2140.648681640625,
                        "z": 361.6172180175781
                    },
                    "rotation": {
                        "roll": -0.00424187770113349,
                        "pitch": -0.9615129828453064,
                        "yaw": -89.6077880859375
                    }
                },
                "velocity": {
                    "x": 0.05272084102034569,
                    "y": -7.695684432983398,
                    "z": -0.1353454887866974
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.940481185913086,
                "transform": {
                    "location": {
                        "x": 1946.318603515625,
                        "y": 2065.546142578125,
                        "z": 360.9979248046875
                    },
                    "rotation": {
                        "roll": 0.0017917886143550277,
                        "pitch": -0.7774325609207153,
                        "yaw": -0.2802123427391052
                    }
                },
                "velocity": {
                    "x": 7.939737796783447,
                    "y": -0.02296370454132557,
                    "z": -0.1061975359916687
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9666910171508789,
                "transform": {
                    "location": {
                        "x": 1985.0899658203125,
                        "y": 2125.230224609375,
                        "z": 361.3934020996094
                    },
                    "rotation": {
                        "roll": -0.0004272933001630008,
                        "pitch": -1.151822566986084,
                        "yaw": -89.84962463378906
                    }
                },
                "velocity": {
                    "x": 0.0016081836074590683,
                    "y": -0.9665588140487671,
                    "z": -0.015907296910881996
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.097616672515869,
                "transform": {
                    "location": {
                        "x": 1982.3822021484375,
                        "y": 2051.6416015625,
                        "z": 360.22381591796875
                    },
                    "rotation": {
                        "roll": -0.0017395785544067621,
                        "pitch": 0.812874436378479,
                        "yaw": 90.11717224121094
                    }
                },
                "velocity": {
                    "x": -0.0066290306858718395,
                    "y": 3.097289562225342,
                    "z": 0.04452641308307648
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.0097270011901855,
                "transform": {
                    "location": {
                        "x": 1966.299072265625,
                        "y": 2065.484619140625,
                        "z": 360.699951171875
                    },
                    "rotation": {
                        "roll": 2.0847439052840144e-10,
                        "pitch": -1.0282233953475952,
                        "yaw": -0.2224731296300888
                    }
                },
                "velocity": {
                    "x": 4.009145736694336,
                    "y": -0.015353734605014324,
                    "z": -0.06650561839342117
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.1815185546875,
                        "y": 2152.206787109375,
                        "z": 361.8309631347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0454901456832886,
                        "yaw": 90.11062622070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.155622720718384,
                "transform": {
                    "location": {
                        "x": 1985.117919921875,
                        "y": 2109.6923828125,
                        "z": 361.0938720703125
                    },
                    "rotation": {
                        "roll": 0.005310885142534971,
                        "pitch": -1.400871753692627,
                        "yaw": -90.1163330078125
                    }
                },
                "velocity": {
                    "x": 0.005646311677992344,
                    "y": -3.155174732208252,
                    "z": -0.052873920649290085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1751770973205566,
                "transform": {
                    "location": {
                        "x": 1985.1490478515625,
                        "y": 2096.211181640625,
                        "z": 360.8758239746094
                    },
                    "rotation": {
                        "roll": 0.0011480303946882486,
                        "pitch": -1.0293231010437012,
                        "yaw": -89.89669799804688
                    }
                },
                "velocity": {
                    "x": 0.00597802922129631,
                    "y": -3.174778938293457,
                    "z": -0.04992182180285454
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.08700781315565109,
        "expert_target_speed": 0,
        "target_point": [
            13.290532223591244,
            -11.768607803957096
        ],
        "target_point_next": [
            12.424122047928305,
            -62.76121028351956
        ]
    },
    "230": {
        "acceleration": [
            -0.10730564594268799,
            -6.301708221435547,
            -0.09818360209465027
        ],
        "angular_velocity": [
            -2.0446999073028564,
            0.09650228172540665,
            -0.5310772061347961
        ],
        "forward_vector": [
            0.013185425661504269,
            -0.9998311400413513,
            -0.012799867428839207
        ],
        "right_vector": [
            0.9999130368232727,
            0.013186920434236526,
            -3.239884608774446e-05
        ],
        "location": [
            1985.01806640625,
            2075.453125,
            360.5613098144531
        ],
        "rotation": [
            0.0018564691999927163,
            -0.7333983778953552,
            -89.24444580078125
        ],
        "velocity": [
            0.026944760233163834,
            -2.9895684719085693,
            -0.04440955072641373
        ],
        "speed": 2.989689895011481,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.8563461303711,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9339599609375,
                        "y": 2154.3056640625,
                        "z": 361.87042236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.45486307144165,
                "transform": {
                    "location": {
                        "x": 1985.0465087890625,
                        "y": 2138.704833984375,
                        "z": 361.58355712890625
                    },
                    "rotation": {
                        "roll": -0.0028076281305402517,
                        "pitch": -0.9916682839393616,
                        "yaw": -89.66028594970703
                    }
                },
                "velocity": {
                    "x": 0.04396696761250496,
                    "y": -7.453611373901367,
                    "z": -0.12931309640407562
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.637246608734131,
                "transform": {
                    "location": {
                        "x": 1948.263427734375,
                        "y": 2065.540283203125,
                        "z": 360.9712829589844
                    },
                    "rotation": {
                        "roll": 0.0015165151562541723,
                        "pitch": -0.8042001128196716,
                        "yaw": -0.2956847548484802
                    }
                },
                "velocity": {
                    "x": 7.636422634124756,
                    "y": -0.026955418288707733,
                    "z": -0.10889983922243118
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8952341079711914,
                "transform": {
                    "location": {
                        "x": 1985.0899658203125,
                        "y": 2124.8662109375,
                        "z": 361.3853759765625
                    },
                    "rotation": {
                        "roll": -0.0010375804267823696,
                        "pitch": -0.9371633529663086,
                        "yaw": -89.84978485107422
                    }
                },
                "velocity": {
                    "x": 0.003651471110060811,
                    "y": -1.8949346542358398,
                    "z": -0.03349444270133972
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9473910331726074,
                "transform": {
                    "location": {
                        "x": 1982.3802490234375,
                        "y": 2052.396240234375,
                        "z": 360.2345275878906
                    },
                    "rotation": {
                        "roll": 0.0003848237683996558,
                        "pitch": 0.8121640682220459,
                        "yaw": 90.12690734863281
                    }
                },
                "velocity": {
                    "x": -0.006211510393768549,
                    "y": 2.947096109390259,
                    "z": 0.04123910889029503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.945509195327759,
                "transform": {
                    "location": {
                        "x": 1967.279296875,
                        "y": 2065.480712890625,
                        "z": 360.6833801269531
                    },
                    "rotation": {
                        "roll": 5.2463605243247e-05,
                        "pitch": -1.0145562887191772,
                        "yaw": -0.2161254733800888
                    }
                },
                "velocity": {
                    "x": 3.944898843765259,
                    "y": -0.014997499994933605,
                    "z": -0.06775601953268051
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.1832275390625,
                        "y": 2153.659912109375,
                        "z": 361.85748291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.0454901456832886,
                        "yaw": 90.11062622070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.2635297775268555,
                "transform": {
                    "location": {
                        "x": 1985.1190185546875,
                        "y": 2108.780029296875,
                        "z": 361.07965087890625
                    },
                    "rotation": {
                        "roll": 0.002641828265041113,
                        "pitch": -0.9455235004425049,
                        "yaw": -90.0189208984375
                    }
                },
                "velocity": {
                    "x": 0.005193134304136038,
                    "y": -4.26296329498291,
                    "z": -0.06930260360240936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7701354026794434,
                "transform": {
                    "location": {
                        "x": 1985.15087890625,
                        "y": 2095.43896484375,
                        "z": 360.8639221191406
                    },
                    "rotation": {
                        "roll": 0.00019244986469857395,
                        "pitch": -1.0223699808120728,
                        "yaw": -89.8890609741211
                    }
                },
                "velocity": {
                    "x": 0.005044979974627495,
                    "y": -2.7697930335998535,
                    "z": -0.043256111443042755
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.12496379017829895,
        "expert_target_speed": 0,
        "target_point": [
            12.691647795719652,
            -11.765322234446991
        ],
        "target_point_next": [
            11.835983898528145,
            -62.758106170276726
        ]
    },
    "235": {
        "acceleration": [
            0.055312588810920715,
            -6.202592849731445,
            -0.07571905851364136
        ],
        "angular_velocity": [
            -0.8458688259124756,
            -0.07866267114877701,
            -0.8765202760696411
        ],
        "forward_vector": [
            0.008782215416431427,
            -0.999946117401123,
            -0.005533547606319189
        ],
        "right_vector": [
            0.9999613165855408,
            0.008784864097833633,
            -0.0004545310221146792
        ],
        "location": [
            1985.023193359375,
            2074.4658203125,
            360.5449523925781
        ],
        "rotation": [
            0.026043109595775604,
            -0.3170505464076996,
            -89.4968032836914
        ],
        "velocity": [
            0.01911594532430172,
            -4.72900915145874,
            -0.07041659951210022
        ],
        "speed": 4.7290477872343555,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.73467254638672,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 1933.231201171875,
                        "y": 2065.501708984375,
                        "z": 361.256591796875
                    },
                    "rotation": {
                        "roll": 2.0845801473878822e-10,
                        "pitch": -0.7359254956245422,
                        "yaw": -0.205841064453125
                    }
                },
                "velocity": {
                    "x": -2.1859458243511654e-08,
                    "y": 7.853273586988507e-11,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9371337890625,
                        "y": 2152.56884765625,
                        "z": 361.8385009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0313106775283813,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.4357404708862305,
                "transform": {
                    "location": {
                        "x": 1985.0555419921875,
                        "y": 2137.021728515625,
                        "z": 361.5548400878906
                    },
                    "rotation": {
                        "roll": -0.0010070872958749533,
                        "pitch": -1.0468698740005493,
                        "yaw": -89.72225189208984
                    }
                },
                "velocity": {
                    "x": 0.025021590292453766,
                    "y": -5.4348554611206055,
                    "z": -0.09484905749559402
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.2119011878967285,
                "transform": {
                    "location": {
                        "x": 1950.114013671875,
                        "y": 2065.533935546875,
                        "z": 360.9451599121094
                    },
                    "rotation": {
                        "roll": 0.001996770268306136,
                        "pitch": -0.8528173565864563,
                        "yaw": -0.3396300673484802
                    }
                },
                "velocity": {
                    "x": 7.211109638214111,
                    "y": -0.026731161400675774,
                    "z": -0.10346437990665436
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0349512100219727,
                "transform": {
                    "location": {
                        "x": 1985.092041015625,
                        "y": 2124.2578125,
                        "z": 361.37445068359375
                    },
                    "rotation": {
                        "roll": -0.001037564012221992,
                        "pitch": -0.8797624707221985,
                        "yaw": -89.851806640625
                    }
                },
                "velocity": {
                    "x": 0.0064178151078522205,
                    "y": -3.034489154815674,
                    "z": -0.05257046967744827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.805814027786255,
                "transform": {
                    "location": {
                        "x": 1982.3780517578125,
                        "y": 2053.11474609375,
                        "z": 360.24456787109375
                    },
                    "rotation": {
                        "roll": 0.0015470610233023763,
                        "pitch": 0.8154425621032715,
                        "yaw": 90.11205291748047
                    }
                },
                "velocity": {
                    "x": -0.005918452516198158,
                    "y": 2.8055145740509033,
                    "z": 0.04056837782263756
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.218812942504883,
                "transform": {
                    "location": {
                        "x": 1968.1961669921875,
                        "y": 2065.46240234375,
                        "z": 360.6675720214844
                    },
                    "rotation": {
                        "roll": 0.07698048651218414,
                        "pitch": -1.1031779050827026,
                        "yaw": -0.791778564453125
                    }
                },
                "velocity": {
                    "x": 3.2157809734344482,
                    "y": -0.12790636718273163,
                    "z": -0.056116506457328796
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5119,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1982.1827392578125,
                        "y": 2155.044921875,
                        "z": 361.8828430175781
                    },
                    "rotation": {
                        "roll": 5.336997688232259e-08,
                        "pitch": 1.0596901178359985,
                        "yaw": 90.11062622070312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.325588703155518,
                "transform": {
                    "location": {
                        "x": 1985.12109375,
                        "y": 2107.542236328125,
                        "z": 361.0600280761719
                    },
                    "rotation": {
                        "roll": -0.0004578007501550019,
                        "pitch": -0.8006620407104492,
                        "yaw": -89.94233703613281
                    }
                },
                "velocity": {
                    "x": 0.009123812429606915,
                    "y": -5.324875354766846,
                    "z": -0.08668728917837143
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.036280393600464,
                "transform": {
                    "location": {
                        "x": 1985.1527099609375,
                        "y": 2094.74462890625,
                        "z": 360.8528137207031
                    },
                    "rotation": {
                        "roll": 0.0013574102194979787,
                        "pitch": -0.9251968860626221,
                        "yaw": -89.90116119384766
                    }
                },
                "velocity": {
                    "x": 0.004326437134295702,
                    "y": -3.0359227657318115,
                    "z": -0.04638300836086273
                },
                "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": -0.27291443943977356,
        "expert_target_speed": 10.0,
        "target_point": [
            11.756049669422092,
            -11.705746110491502
        ],
        "target_point_next": [
            11.125062594757228,
            -62.701805071383546
        ]
    },
    "240": {
        "acceleration": [
            -0.336431622505188,
            1.6099739074707031,
            0.02563193440437317
        ],
        "angular_velocity": [
            1.9324074983596802,
            0.21840345859527588,
            -0.9583578705787659
        ],
        "forward_vector": [
            0.007566756568849087,
            -0.9999324083328247,
            -0.008828286081552505
        ],
        "right_vector": [
            0.999971330165863,
            0.007569206412881613,
            -0.00024415410007350147
        ],
        "location": [
            1985.0321044921875,
            2073.19287109375,
            360.5269775390625
        ],
        "rotation": [
            0.013989545404911041,
            -0.5058301091194153,
            -89.56643676757812
        ],
        "velocity": [
            0.020887412130832672,
            -5.067749500274658,
            -0.07500217109918594
        ],
        "speed": 5.06779254523304,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.5951919555664,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 1982.4560546875,
                        "y": 2013.433837890625,
                        "z": 359.8901062011719
                    },
                    "rotation": {
                        "roll": -2.66826667427722e-08,
                        "pitch": 0.7428718209266663,
                        "yaw": 90.11060333251953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1549169272184372,
                "transform": {
                    "location": {
                        "x": 1933.22998046875,
                        "y": 2065.501708984375,
                        "z": 361.1383972167969
                    },
                    "rotation": {
                        "roll": -0.0001220703707076609,
                        "pitch": -0.7419429421424866,
                        "yaw": -0.2058105170726776
                    }
                },
                "velocity": {
                    "x": 0.0020351966377347708,
                    "y": 9.619835509511176e-06,
                    "z": 0.1549035608768463
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.939453125,
                        "y": 2151.341796875,
                        "z": 361.81597900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0313106775283813,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006425902247428894,
                "transform": {
                    "location": {
                        "x": 1985.0582275390625,
                        "y": 2136.50146484375,
                        "z": 361.5466003417969
                    },
                    "rotation": {
                        "roll": -0.001525798812508583,
                        "pitch": -1.1711655855178833,
                        "yaw": -89.74343872070312
                    }
                },
                "velocity": {
                    "x": -2.0307072190917097e-05,
                    "y": 6.223648961167783e-05,
                    "z": 0.0006392467767000198
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.414640426635742,
                "transform": {
                    "location": {
                        "x": 1951.8468017578125,
                        "y": 2065.527099609375,
                        "z": 360.9197082519531
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": -0.8630011677742004,
                        "yaw": -0.1592712104320526
                    }
                },
                "velocity": {
                    "x": 6.413938999176025,
                    "y": -0.012012677267193794,
                    "z": -0.09409165382385254
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.429778099060059,
                "transform": {
                    "location": {
                        "x": 1985.093994140625,
                        "y": 2123.314697265625,
                        "z": 361.35791015625
                    },
                    "rotation": {
                        "roll": -0.0005188305513001978,
                        "pitch": -0.8445733189582825,
                        "yaw": -89.86387634277344
                    }
                },
                "velocity": {
                    "x": 0.009177270345389843,
                    "y": -4.429125785827637,
                    "z": -0.07547091692686081
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.679063320159912,
                "transform": {
                    "location": {
                        "x": 1982.376220703125,
                        "y": 2053.79833984375,
                        "z": 360.2543029785156
                    },
                    "rotation": {
                        "roll": -0.00137332861777395,
                        "pitch": 0.8194519281387329,
                        "yaw": 90.1197280883789
                    }
                },
                "velocity": {
                    "x": -0.00545277027413249,
                    "y": 2.678771495819092,
                    "z": 0.03916757553815842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3204876482486725,
                "transform": {
                    "location": {
                        "x": 1968.752197265625,
                        "y": 2065.439208984375,
                        "z": 360.6578674316406
                    },
                    "rotation": {
                        "roll": 0.008415781892836094,
                        "pitch": -1.4511350393295288,
                        "yaw": -1.506683349609375
                    }
                },
                "velocity": {
                    "x": 0.3202865421772003,
                    "y": -0.009365474805235863,
                    "z": -0.006415004376322031
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2983415126800537,
                "transform": {
                    "location": {
                        "x": 1985.123046875,
                        "y": 2106.534423828125,
                        "z": 361.0425720214844
                    },
                    "rotation": {
                        "roll": -0.0012817172100767493,
                        "pitch": -1.2596371173858643,
                        "yaw": -89.90767669677734
                    }
                },
                "velocity": {
                    "x": 0.005126877687871456,
                    "y": -2.2980172634124756,
                    "z": -0.038260918110609055
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.315352439880371,
                "transform": {
                    "location": {
                        "x": 1985.1546630859375,
                        "y": 2093.81689453125,
                        "z": 360.8370361328125
                    },
                    "rotation": {
                        "roll": 0.0002744738303590566,
                        "pitch": -0.5419891476631165,
                        "yaw": -89.9028549194336
                    }
                },
                "velocity": {
                    "x": 0.007196173071861267,
                    "y": -4.314842224121094,
                    "z": -0.06599187850952148
                },
                "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": -0.6096007227897644,
        "expert_target_speed": 10.0,
        "target_point": [
            10.497224723710737,
            -11.690784611498962
        ],
        "target_point_next": [
            9.927942942206014,
            -62.687569730606405
        ]
    },
    "245": {
        "acceleration": [
            -0.1326528936624527,
            -3.305692672729492,
            -0.05485177040100098
        ],
        "angular_velocity": [
            -0.411337673664093,
            0.007165154907852411,
            -2.2584962844848633
        ],
        "forward_vector": [
            -0.0025678561069071293,
            -0.9999222159385681,
            -0.012207561172544956
        ],
        "right_vector": [
            0.9999955296516418,
            -0.002548943506553769,
            -0.0015645507955923676
        ],
        "location": [
            1985.02490234375,
            2071.9228515625,
            360.5086669921875
        ],
        "rotation": [
            0.08964886516332626,
            -0.6994591355323792,
            -90.14714050292969
        ],
        "velocity": [
            -0.06408585608005524,
            -5.323363304138184,
            -0.08046458661556244
        ],
        "speed": 5.3237490422440565,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.45709228515625,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.1421567052602768,
                "transform": {
                    "location": {
                        "x": 1982.4560546875,
                        "y": 2013.434814453125,
                        "z": 359.6809997558594
                    },
                    "rotation": {
                        "roll": -0.0010680544655770063,
                        "pitch": 0.7452487349510193,
                        "yaw": 90.11064910888672
                    }
                },
                "velocity": {
                    "x": 7.992518658284098e-05,
                    "y": 0.0017948743188753724,
                    "z": -0.14214535057544708
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1619160175323486,
                "transform": {
                    "location": {
                        "x": 1933.3197021484375,
                        "y": 2065.501708984375,
                        "z": 361.16510009765625
                    },
                    "rotation": {
                        "roll": -0.003997802268713713,
                        "pitch": -0.5938712358474731,
                        "yaw": -0.1843871921300888
                    }
                },
                "velocity": {
                    "x": 1.1611542701721191,
                    "y": 0.004175673238933086,
                    "z": 0.04185785353183746
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.94091796875,
                        "y": 2150.5087890625,
                        "z": 361.8006896972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0313106775283813,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9712925553321838,
                "transform": {
                    "location": {
                        "x": 1985.0587158203125,
                        "y": 2136.35205078125,
                        "z": 361.5426940917969
                    },
                    "rotation": {
                        "roll": -0.0028991196304559708,
                        "pitch": -1.0112299919128418,
                        "yaw": -89.77877807617188
                    }
                },
                "velocity": {
                    "x": 0.0032230245415121317,
                    "y": -0.9711447954177856,
                    "z": -0.016634492203593254
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.546125888824463,
                "transform": {
                    "location": {
                        "x": 1953.4439697265625,
                        "y": 2065.522705078125,
                        "z": 360.8960876464844
                    },
                    "rotation": {
                        "roll": -0.005462646018713713,
                        "pitch": -0.8448192477226257,
                        "yaw": 0.14642728865146637
                    }
                },
                "velocity": {
                    "x": 6.54542350769043,
                    "y": -0.006467440165579319,
                    "z": -0.0956830307841301
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.2890305519104,
                "transform": {
                    "location": {
                        "x": 1985.09716796875,
                        "y": 2122.0595703125,
                        "z": 361.3370361328125
                    },
                    "rotation": {
                        "roll": -0.0006714120390824974,
                        "pitch": -0.8800971508026123,
                        "yaw": -89.8835678100586
                    }
                },
                "velocity": {
                    "x": 0.011932249180972576,
                    "y": -5.288243770599365,
                    "z": -0.09042901545763016
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.249584197998047,
                "transform": {
                    "location": {
                        "x": 1982.3741455078125,
                        "y": 2054.522216796875,
                        "z": 360.2650451660156
                    },
                    "rotation": {
                        "roll": -0.0018005567835643888,
                        "pitch": 0.7680683732032776,
                        "yaw": 90.10726928710938
                    }
                },
                "velocity": {
                    "x": -0.004601954482495785,
                    "y": 3.2492635250091553,
                    "z": 0.045412976294755936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004585409536957741,
                "transform": {
                    "location": {
                        "x": 1968.755859375,
                        "y": 2065.43896484375,
                        "z": 360.6578369140625
                    },
                    "rotation": {
                        "roll": 0.014024173840880394,
                        "pitch": -1.2258890867233276,
                        "yaw": -1.5387266874313354
                    }
                },
                "velocity": {
                    "x": -0.0044015077874064445,
                    "y": 0.0005036289803683758,
                    "z": 0.0011828233255073428
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7339162230491638,
                "transform": {
                    "location": {
                        "x": 1985.1234130859375,
                        "y": 2106.37255859375,
                        "z": 361.0400390625
                    },
                    "rotation": {
                        "roll": -0.0006714251940138638,
                        "pitch": -1.1937257051467896,
                        "yaw": -89.85442352294922
                    }
                },
                "velocity": {
                    "x": 0.0033046395983546972,
                    "y": -0.7338202595710754,
                    "z": -0.01139970775693655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.050499439239502,
                "transform": {
                    "location": {
                        "x": 1985.1566162109375,
                        "y": 2092.7626953125,
                        "z": 360.82177734375
                    },
                    "rotation": {
                        "roll": 0.00029644626192748547,
                        "pitch": -0.7695368528366089,
                        "yaw": -89.90484619140625
                    }
                },
                "velocity": {
                    "x": 0.006842272821813822,
                    "y": -4.050018310546875,
                    "z": -0.062038447707891464
                },
                "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": -0.9987184405326843,
        "expert_target_speed": 10.0,
        "target_point": [
            9.345380419805787,
            -11.579651798314337
        ],
        "target_point_next": [
            9.294048560879531,
            -62.57958845779883
        ]
    },
    "250": {
        "acceleration": [
            -0.26064470410346985,
            3.3139801025390625,
            0.10437116026878357
        ],
        "angular_velocity": [
            1.1008862257003784,
            0.11390335112810135,
            -1.9522043466567993
        ],
        "forward_vector": [
            -0.012347954325377941,
            -0.9997926354408264,
            -0.016192324459552765
        ],
        "right_vector": [
            0.9999228715896606,
            -0.01232454739511013,
            -0.001544564962387085
        ],
        "location": [
            1985.0074462890625,
            2070.672607421875,
            360.49066162109375
        ],
        "rotation": [
            0.08850869536399841,
            -0.9277923703193665,
            -90.70759582519531
        ],
        "velocity": [
            -0.10271448642015457,
            -4.675942897796631,
            -0.0692082941532135
        ],
        "speed": 4.67707090486934,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.32750701904297,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.04291204363107681,
                "transform": {
                    "location": {
                        "x": 1982.4560546875,
                        "y": 2013.434814453125,
                        "z": 359.6864318847656
                    },
                    "rotation": {
                        "roll": -0.0005798680940642953,
                        "pitch": 0.745344340801239,
                        "yaw": 90.11065673828125
                    }
                },
                "velocity": {
                    "x": -0.00012001441791653633,
                    "y": -0.0005899404059164226,
                    "z": 0.04290781915187836
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.24641752243042,
                "transform": {
                    "location": {
                        "x": 1933.752197265625,
                        "y": 2065.50390625,
                        "z": 361.1660461425781
                    },
                    "rotation": {
                        "roll": -0.006591797340661287,
                        "pitch": -0.5682990550994873,
                        "yaw": -0.062316883355379105
                    }
                },
                "velocity": {
                    "x": 2.2463245391845703,
                    "y": 0.009452871046960354,
                    "z": -0.0181417316198349
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.94384765625,
                        "y": 2149.25927734375,
                        "z": 361.7777404785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0313106775283813,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5378696918487549,
                "transform": {
                    "location": {
                        "x": 1985.060302734375,
                        "y": 2136.03564453125,
                        "z": 361.536865234375
                    },
                    "rotation": {
                        "roll": -0.002807668410241604,
                        "pitch": -0.9761295914649963,
                        "yaw": -89.80812072753906
                    }
                },
                "velocity": {
                    "x": 0.004774864763021469,
                    "y": -1.5376266241073608,
                    "z": -0.026916317641735077
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.084364891052246,
                "transform": {
                    "location": {
                        "x": 1955.0555419921875,
                        "y": 2065.520263671875,
                        "z": 360.8724670410156
                    },
                    "rotation": {
                        "roll": -0.008453368209302425,
                        "pitch": -0.8486031293869019,
                        "yaw": 0.322765588760376
                    }
                },
                "velocity": {
                    "x": 6.083702087402344,
                    "y": 0.0002388180000707507,
                    "z": -0.08979593217372894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.5425262451171875,
                "transform": {
                    "location": {
                        "x": 1985.099609375,
                        "y": 2120.69677734375,
                        "z": 361.3141784667969
                    },
                    "rotation": {
                        "roll": 0.0010389110539108515,
                        "pitch": -0.9251695871353149,
                        "yaw": -89.93782806396484
                    }
                },
                "velocity": {
                    "x": 0.009739760309457779,
                    "y": -5.541708946228027,
                    "z": -0.09467797726392746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.326328277587891,
                "transform": {
                    "location": {
                        "x": 1982.3721923828125,
                        "y": 2055.470947265625,
                        "z": 360.27886962890625
                    },
                    "rotation": {
                        "roll": -0.002349795075133443,
                        "pitch": 0.7160565257072449,
                        "yaw": 90.10758972167969
                    }
                },
                "velocity": {
                    "x": -0.008208747953176498,
                    "y": 4.325876712799072,
                    "z": 0.061974287033081055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015822263667359948,
                "transform": {
                    "location": {
                        "x": 1968.7574462890625,
                        "y": 2065.43896484375,
                        "z": 360.6578674316406
                    },
                    "rotation": {
                        "roll": 0.01943577639758587,
                        "pitch": -1.0410710573196411,
                        "yaw": -1.538787841796875
                    }
                },
                "velocity": {
                    "x": -0.0009171682177111506,
                    "y": 0.00041619149851612747,
                    "z": 0.001220257137902081
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9065779447555542,
                "transform": {
                    "location": {
                        "x": 1985.1240234375,
                        "y": 2106.022216796875,
                        "z": 361.0347900390625
                    },
                    "rotation": {
                        "roll": 0.00043021616875194013,
                        "pitch": -0.8529061675071716,
                        "yaw": -89.88451385498047
                    }
                },
                "velocity": {
                    "x": 0.00387034029699862,
                    "y": -1.906325340270996,
                    "z": -0.030791591852903366
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.115017890930176,
                "transform": {
                    "location": {
                        "x": 1985.1585693359375,
                        "y": 2091.772216796875,
                        "z": 360.80706787109375
                    },
                    "rotation": {
                        "roll": 0.0010514890309423208,
                        "pitch": -0.8664504289627075,
                        "yaw": -89.90215301513672
                    }
                },
                "velocity": {
                    "x": 0.006929973140358925,
                    "y": -4.114536285400391,
                    "z": -0.06255515664815903
                },
                "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": -1.0004713535308838,
        "expert_target_speed": 10.0,
        "target_point": [
            8.207629260799633,
            -11.485837953970586
        ],
        "target_point_next": [
            8.654240918815663,
            -62.483844897949254
        ]
    },
    "255": {
        "acceleration": [
            0.10014668107032776,
            3.280196189880371,
            0.012831389904022217
        ],
        "angular_velocity": [
            2.979011058807373,
            4.683097839355469,
            -2.2825582027435303
        ],
        "forward_vector": [
            -0.021088866516947746,
            -0.9993481040000916,
            -0.029303288087248802
        ],
        "right_vector": [
            0.9996950030326843,
            -0.02070126123726368,
            -0.013468408025801182
        ],
        "location": [
            1984.97802734375,
            2069.625,
            360.4635314941406
        ],
        "rotation": [
            0.7720378637313843,
            -1.6791950464248657,
            -91.20891571044922
        ],
        "velocity": [
            -0.07510893791913986,
            -3.8079957962036133,
            -0.1265552043914795
        ],
        "speed": 3.8087364488055266,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.21708679199219,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.214493751525879,
                "transform": {
                    "location": {
                        "x": 1982.4549560546875,
                        "y": 2013.5833740234375,
                        "z": 359.6940612792969
                    },
                    "rotation": {
                        "roll": -0.0015259264037013054,
                        "pitch": 0.811385452747345,
                        "yaw": 90.07505798339844
                    }
                },
                "velocity": {
                    "x": -0.01280138362199068,
                    "y": 1.2141170501708984,
                    "z": 0.027404965832829475
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7829506397247314,
                "transform": {
                    "location": {
                        "x": 1934.5030517578125,
                        "y": 2065.5078125,
                        "z": 361.1574401855469
                    },
                    "rotation": {
                        "roll": -0.00927734375,
                        "pitch": -0.5127900838851929,
                        "yaw": 0.10576840490102768
                    }
                },
                "velocity": {
                    "x": 3.7826054096221924,
                    "y": 0.020175280049443245,
                    "z": -0.046953387558460236
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.945556640625,
                        "y": 2148.42626953125,
                        "z": 361.76275634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0170561075210571,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1631758213043213,
                "transform": {
                    "location": {
                        "x": 1985.060302734375,
                        "y": 2135.568603515625,
                        "z": 361.52874755859375
                    },
                    "rotation": {
                        "roll": -0.006225608289241791,
                        "pitch": -0.9769287109375,
                        "yaw": -89.60791015625
                    }
                },
                "velocity": {
                    "x": 0.008185186423361301,
                    "y": -2.162832260131836,
                    "z": -0.03766608238220215
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4273655414581299,
                "transform": {
                    "location": {
                        "x": 1955.993408203125,
                        "y": 2065.522705078125,
                        "z": 360.8588562011719
                    },
                    "rotation": {
                        "roll": -0.012420654296875,
                        "pitch": -0.943966269493103,
                        "yaw": 0.45467931032180786
                    }
                },
                "velocity": {
                    "x": 1.4271388053894043,
                    "y": 0.01280691847205162,
                    "z": -0.02197834849357605
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.961517810821533,
                "transform": {
                    "location": {
                        "x": 1985.1021728515625,
                        "y": 2119.005126953125,
                        "z": 361.2840270996094
                    },
                    "rotation": {
                        "roll": 0.00022034646826796234,
                        "pitch": -0.7622354030609131,
                        "yaw": -89.91564178466797
                    }
                },
                "velocity": {
                    "x": 0.014752986840903759,
                    "y": -7.960367202758789,
                    "z": -0.13455766439437866
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.183943748474121,
                "transform": {
                    "location": {
                        "x": 1982.3702392578125,
                        "y": 2056.687744140625,
                        "z": 360.2965087890625
                    },
                    "rotation": {
                        "roll": -0.004364004358649254,
                        "pitch": 0.715612530708313,
                        "yaw": 90.106201171875
                    }
                },
                "velocity": {
                    "x": -0.009791487827897072,
                    "y": 5.1833953857421875,
                    "z": 0.0747622475028038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013664955040439963,
                "transform": {
                    "location": {
                        "x": 1968.7579345703125,
                        "y": 2065.43896484375,
                        "z": 360.6579284667969
                    },
                    "rotation": {
                        "roll": 0.022347940132021904,
                        "pitch": -1.0052193403244019,
                        "yaw": -1.538848876953125
                    }
                },
                "velocity": {
                    "x": -0.0002460148825775832,
                    "y": -2.211246101069264e-05,
                    "z": 0.0013439856702461839
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0605528354644775,
                "transform": {
                    "location": {
                        "x": 1985.1256103515625,
                        "y": 2105.413818359375,
                        "z": 361.02490234375
                    },
                    "rotation": {
                        "roll": -0.002075181808322668,
                        "pitch": -0.779044508934021,
                        "yaw": -89.88142395019531
                    }
                },
                "velocity": {
                    "x": 0.006374611519277096,
                    "y": -3.0601441860198975,
                    "z": -0.04960041865706444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.078922748565674,
                "transform": {
                    "location": {
                        "x": 1985.1605224609375,
                        "y": 2090.71142578125,
                        "z": 360.7908935546875
                    },
                    "rotation": {
                        "roll": 0.0014239028096199036,
                        "pitch": -0.8462194204330444,
                        "yaw": -89.90626525878906
                    }
                },
                "velocity": {
                    "x": 0.005702251102775335,
                    "y": -4.078440189361572,
                    "z": -0.062487076967954636
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0020090341567993,
        "expert_target_speed": 0,
        "target_point": [
            7.2598902315887,
            -11.406225583061943
        ],
        "target_point_next": [
            8.153025808671863,
            -62.39836696849624
        ]
    },
    "260": {
        "acceleration": [
            -1.1602979898452759,
            3.129558563232422,
            0.36806708574295044
        ],
        "angular_velocity": [
            -0.17677031457424164,
            -1.2275044918060303,
            -6.739841938018799
        ],
        "forward_vector": [
            -0.04323354363441467,
            -0.9983925223350525,
            -0.036650191992521286
        ],
        "right_vector": [
            0.9988343715667725,
            -0.04240628331899643,
            -0.023056743666529655
        ],
        "location": [
            1984.9281005859375,
            2068.78125,
            360.4411926269531
        ],
        "rotation": [
            1.3220595121383667,
            -2.100371837615967,
            -92.47953796386719
        ],
        "velocity": [
            -0.32485488057136536,
            -3.0114529132843018,
            -0.04238245263695717
        ],
        "speed": 3.028923792761968,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.1104736328125,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0045533180236816,
                "transform": {
                    "location": {
                        "x": 1982.4539794921875,
                        "y": 2013.9659423828125,
                        "z": 359.7000427246094
                    },
                    "rotation": {
                        "roll": 0.0017052604816854,
                        "pitch": 0.8039951920509338,
                        "yaw": 90.04651641845703
                    }
                },
                "velocity": {
                    "x": 0.0028193627949804068,
                    "y": 2.004368305206299,
                    "z": 0.027093887329101562
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.213858127593994,
                "transform": {
                    "location": {
                        "x": 1935.63818359375,
                        "y": 2065.514892578125,
                        "z": 361.1431579589844
                    },
                    "rotation": {
                        "roll": -0.01037597469985485,
                        "pitch": -0.5090880990028381,
                        "yaw": 0.2642357051372528
                    }
                },
                "velocity": {
                    "x": 5.213383197784424,
                    "y": 0.033416446298360825,
                    "z": -0.06194710731506348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.947509765625,
                        "y": 2147.176513671875,
                        "z": 361.7403869628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0170561075210571,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7283525466918945,
                "transform": {
                    "location": {
                        "x": 1985.0611572265625,
                        "y": 2134.95458984375,
                        "z": 361.51812744140625
                    },
                    "rotation": {
                        "roll": -0.006927513517439365,
                        "pitch": -0.9775707721710205,
                        "yaw": -89.4993896484375
                    }
                },
                "velocity": {
                    "x": 0.01137063093483448,
                    "y": -2.727909803390503,
                    "z": -0.04781201854348183
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5303155779838562,
                "transform": {
                    "location": {
                        "x": 1956.0703125,
                        "y": 2065.5234375,
                        "z": 360.8572082519531
                    },
                    "rotation": {
                        "roll": -0.010986329056322575,
                        "pitch": -0.8946864008903503,
                        "yaw": 0.45061683654785156
                    }
                },
                "velocity": {
                    "x": 0.5302572846412659,
                    "y": -0.0015920973382890224,
                    "z": -0.007700977381318808
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.286282539367676,
                "transform": {
                    "location": {
                        "x": 1985.1058349609375,
                        "y": 2117.065673828125,
                        "z": 361.25299072265625
                    },
                    "rotation": {
                        "roll": -0.00012205341045046225,
                        "pitch": -0.9603518843650818,
                        "yaw": -89.90428924560547
                    }
                },
                "velocity": {
                    "x": 0.012374409474432468,
                    "y": -7.285242080688477,
                    "z": -0.12252040952444077
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.739172458648682,
                "transform": {
                    "location": {
                        "x": 1982.3677978515625,
                        "y": 2058.036865234375,
                        "z": 360.31365966796875
                    },
                    "rotation": {
                        "roll": -0.011413595639169216,
                        "pitch": 0.679876983165741,
                        "yaw": 90.0574951171875
                    }
                },
                "velocity": {
                    "x": -0.008365924470126629,
                    "y": 5.738972187042236,
                    "z": 0.047219522297382355
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007779226871207356,
                "transform": {
                    "location": {
                        "x": 1968.758056640625,
                        "y": 2065.43896484375,
                        "z": 360.6579284667969
                    },
                    "rotation": {
                        "roll": 0.021930012851953506,
                        "pitch": -0.998259425163269,
                        "yaw": -1.5388489961624146
                    }
                },
                "velocity": {
                    "x": 3.1183062674244866e-05,
                    "y": 4.942960913467687e-06,
                    "z": 0.0007772817043587565
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.621508598327637,
                "transform": {
                    "location": {
                        "x": 1985.1275634765625,
                        "y": 2104.43701171875,
                        "z": 361.00927734375
                    },
                    "rotation": {
                        "roll": -0.0018615812296047807,
                        "pitch": -0.7058658599853516,
                        "yaw": -89.87334442138672
                    }
                },
                "velocity": {
                    "x": 0.010850613005459309,
                    "y": -4.620896339416504,
                    "z": -0.0744447186589241
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.375491142272949,
                "transform": {
                    "location": {
                        "x": 1985.1624755859375,
                        "y": 2089.81396484375,
                        "z": 360.7781982421875
                    },
                    "rotation": {
                        "roll": 0.0020773394498974085,
                        "pitch": -1.0891350507736206,
                        "yaw": -89.90938568115234
                    }
                },
                "velocity": {
                    "x": 0.003922029864042997,
                    "y": -3.3750791549682617,
                    "z": -0.05258798599243164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0004353523254395,
        "expert_target_speed": 0,
        "target_point": [
            6.665869027909846,
            -11.229088405269305
        ],
        "target_point_next": [
            8.68931319408298,
            -62.188894605230004
        ]
    },
    "265": {
        "acceleration": [
            -0.025386810302734375,
            2.546701431274414,
            0.02942752093076706
        ],
        "angular_velocity": [
            -0.9099947810173035,
            -2.480302095413208,
            -10.526926040649414
        ],
        "forward_vector": [
            -0.08521736413240433,
            -0.9957748055458069,
            -0.03421282395720482
        ],
        "right_vector": [
            0.9962935447692871,
            -0.08475751429796219,
            -0.014676070772111416
        ],
        "location": [
            1984.834228515625,
            2068.12109375,
            360.4348449707031
        ],
        "rotation": [
            0.8413997292518616,
            -1.9606330394744873,
            -94.89139556884766
        ],
        "velocity": [
            -0.47113466262817383,
            -2.312939167022705,
            -0.015417356044054031
        ],
        "speed": 2.3604354387861255,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.97747039794922,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.557934045791626,
                "transform": {
                    "location": {
                        "x": 1982.4517822265625,
                        "y": 2014.6470947265625,
                        "z": 359.708740234375
                    },
                    "rotation": {
                        "roll": -3.0472247090074234e-05,
                        "pitch": 0.8307012319564819,
                        "yaw": 90.00007629394531
                    }
                },
                "velocity": {
                    "x": -0.008866009302437305,
                    "y": 3.5576155185699463,
                    "z": 0.04677571356296539
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.669683456420898,
                "transform": {
                    "location": {
                        "x": 1937.0006103515625,
                        "y": 2065.5244140625,
                        "z": 361.1256103515625
                    },
                    "rotation": {
                        "roll": -0.010192870162427425,
                        "pitch": -0.6350094676017761,
                        "yaw": 0.32212474942207336
                    }
                },
                "velocity": {
                    "x": 5.66908073425293,
                    "y": 0.039344195276498795,
                    "z": -0.07267627865076065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.94921875,
                        "y": 2146.343505859375,
                        "z": 361.7254943847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0170561075210571,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.329465866088867,
                "transform": {
                    "location": {
                        "x": 1985.0653076171875,
                        "y": 2134.195556640625,
                        "z": 361.5048828125
                    },
                    "rotation": {
                        "roll": -0.006896934937685728,
                        "pitch": -0.9783289432525635,
                        "yaw": -89.51675415039062
                    }
                },
                "velocity": {
                    "x": 0.01347753033041954,
                    "y": -3.3289477825164795,
                    "z": -0.05718009173870087
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3810968399047852,
                "transform": {
                    "location": {
                        "x": 1956.3125,
                        "y": 2065.523193359375,
                        "z": 360.8531494140625
                    },
                    "rotation": {
                        "roll": -0.009246827103197575,
                        "pitch": -0.8510414958000183,
                        "yaw": 0.39639678597450256
                    }
                },
                "velocity": {
                    "x": 1.3809337615966797,
                    "y": -0.005160884000360966,
                    "z": -0.020588822662830353
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.934965133666992,
                "transform": {
                    "location": {
                        "x": 1985.1090087890625,
                        "y": 2115.5224609375,
                        "z": 361.2291259765625
                    },
                    "rotation": {
                        "roll": -0.00015259411884471774,
                        "pitch": -1.235041618347168,
                        "yaw": -89.91956329345703
                    }
                },
                "velocity": {
                    "x": 0.007193483412265778,
                    "y": -3.9343507289886475,
                    "z": -0.06916280835866928
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.837914943695068,
                "transform": {
                    "location": {
                        "x": 1982.3658447265625,
                        "y": 2059.54296875,
                        "z": 360.3328857421875
                    },
                    "rotation": {
                        "roll": -0.7144164443016052,
                        "pitch": 0.55375075340271,
                        "yaw": 90.12992858886719
                    }
                },
                "velocity": {
                    "x": 0.009137819521129131,
                    "y": 6.837302207946777,
                    "z": 0.0910751149058342
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011265329085290432,
                "transform": {
                    "location": {
                        "x": 1968.758056640625,
                        "y": 2065.43896484375,
                        "z": 360.6579284667969
                    },
                    "rotation": {
                        "roll": 0.0225641168653965,
                        "pitch": -0.990841805934906,
                        "yaw": -1.5389404296875
                    }
                },
                "velocity": {
                    "x": 7.696002285229042e-06,
                    "y": -3.941483737435192e-05,
                    "z": 0.0011258168378844857
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.443083763122559,
                "transform": {
                    "location": {
                        "x": 1985.1302490234375,
                        "y": 2103.134521484375,
                        "z": 360.9885559082031
                    },
                    "rotation": {
                        "roll": -0.0009765643626451492,
                        "pitch": -0.766907274723053,
                        "yaw": -89.8504867553711
                    }
                },
                "velocity": {
                    "x": 0.012714813463389874,
                    "y": -5.442360877990723,
                    "z": -0.08780719339847565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.372964382171631,
                "transform": {
                    "location": {
                        "x": 1985.164306640625,
                        "y": 2088.93212890625,
                        "z": 360.76422119140625
                    },
                    "rotation": {
                        "roll": 0.0019781484734266996,
                        "pitch": -0.9557483196258545,
                        "yaw": -89.92036437988281
                    }
                },
                "velocity": {
                    "x": 0.004946386441588402,
                    "y": -3.372565507888794,
                    "z": -0.05162489414215088
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.001625418663025,
        "expert_target_speed": 0,
        "target_point": [
            6.466753417438002,
            -10.90138561835055
        ],
        "target_point_next": [
            10.632909786547597,
            -61.730897866052665
        ]
    },
    "270": {
        "acceleration": [
            5.298168659210205,
            23.07929039001465,
            0.086736299097538
        ],
        "angular_velocity": [
            3.9652609825134277,
            -3.6200850009918213,
            -2.6191983222961426
        ],
        "forward_vector": [
            -0.11823690682649612,
            -0.9924123883247375,
            -0.033728282898664474
        ],
        "right_vector": [
            0.9929850697517395,
            -0.11814216524362564,
            -0.00479526724666357
        ],
        "location": [
            1984.7430419921875,
            2067.65283203125,
            360.4317626953125
        ],
        "rotation": [
            0.27490606904029846,
            -1.9328546524047852,
            -96.79424285888672
        ],
        "velocity": [
            -0.151290163397789,
            -0.6285159587860107,
            -0.0012482452439144254
        ],
        "speed": 0.646468115214995,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.86133575439453,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.68951940536499,
                "transform": {
                    "location": {
                        "x": 1982.451171875,
                        "y": 2015.6790771484375,
                        "z": 359.7222900390625
                    },
                    "rotation": {
                        "roll": 0.0014121317071840167,
                        "pitch": 0.8361244201660156,
                        "yaw": 90.1160659790039
                    }
                },
                "velocity": {
                    "x": -0.008259937167167664,
                    "y": 4.689114570617676,
                    "z": 0.06104471907019615
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.46465539932251,
                "transform": {
                    "location": {
                        "x": 1938.5943603515625,
                        "y": 2065.5322265625,
                        "z": 361.1053161621094
                    },
                    "rotation": {
                        "roll": 0.003016049973666668,
                        "pitch": -0.47603684663772583,
                        "yaw": 0.25388842821121216
                    }
                },
                "velocity": {
                    "x": 7.463983535766602,
                    "y": 0.024907106533646584,
                    "z": -0.09699791669845581
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9515380859375,
                        "y": 2145.093994140625,
                        "z": 361.7032470703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0170561075210571,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.066975116729736,
                "transform": {
                    "location": {
                        "x": 1985.0703125,
                        "y": 2133.27392578125,
                        "z": 361.4888916015625
                    },
                    "rotation": {
                        "roll": -0.003631619270890951,
                        "pitch": -0.9699960947036743,
                        "yaw": -89.62933349609375
                    }
                },
                "velocity": {
                    "x": 0.012188849039375782,
                    "y": -4.066363334655762,
                    "z": -0.069487065076828
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.097996711730957,
                "transform": {
                    "location": {
                        "x": 1956.7574462890625,
                        "y": 2065.5224609375,
                        "z": 360.8463134765625
                    },
                    "rotation": {
                        "roll": -0.006866454612463713,
                        "pitch": -0.8575506806373596,
                        "yaw": 0.24506503343582153
                    }
                },
                "velocity": {
                    "x": 2.0977280139923096,
                    "y": -0.00794557947665453,
                    "z": -0.032620515674352646
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.40872469544410706,
                "transform": {
                    "location": {
                        "x": 1985.109619140625,
                        "y": 2115.230224609375,
                        "z": 361.2252502441406
                    },
                    "rotation": {
                        "roll": -0.0006103548221290112,
                        "pitch": -1.3663041591644287,
                        "yaw": -89.91276550292969
                    }
                },
                "velocity": {
                    "x": 0.0006915174890309572,
                    "y": -0.408671498298645,
                    "z": -0.006558084394782782
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05802059173584,
                "transform": {
                    "location": {
                        "x": 1982.3646240234375,
                        "y": 2061.43115234375,
                        "z": 360.3654479980469
                    },
                    "rotation": {
                        "roll": -0.8136596083641052,
                        "pitch": 0.9350801706314087,
                        "yaw": 90.05430603027344
                    }
                },
                "velocity": {
                    "x": -0.0030150958336889744,
                    "y": 8.056403160095215,
                    "z": 0.16141030192375183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006777675589546561,
                "transform": {
                    "location": {
                        "x": 1968.758056640625,
                        "y": 2065.43896484375,
                        "z": 360.6579284667969
                    },
                    "rotation": {
                        "roll": 0.0225641168653965,
                        "pitch": -0.990841805934906,
                        "yaw": -1.5389404296875
                    }
                },
                "velocity": {
                    "x": -2.839833359757904e-05,
                    "y": 3.3974338293774053e-06,
                    "z": 0.0006771638290956616
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.474345684051514,
                "transform": {
                    "location": {
                        "x": 1985.13427734375,
                        "y": 2101.71630859375,
                        "z": 360.9658203125
                    },
                    "rotation": {
                        "roll": -6.105007196310908e-05,
                        "pitch": -0.7525843381881714,
                        "yaw": -89.86346435546875
                    }
                },
                "velocity": {
                    "x": 0.014978213235735893,
                    "y": -6.473517894744873,
                    "z": -0.1024487316608429
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2010116577148438,
                "transform": {
                    "location": {
                        "x": 1985.1663818359375,
                        "y": 2088.134521484375,
                        "z": 360.75213623046875
                    },
                    "rotation": {
                        "roll": 0.0005467085284180939,
                        "pitch": -0.9802277088165283,
                        "yaw": -89.91195678710938
                    }
                },
                "velocity": {
                    "x": 0.004651496186852455,
                    "y": -3.200641632080078,
                    "z": -0.04844251647591591
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9999504685401917,
        "expert_target_speed": 0,
        "target_point": [
            6.349413280858789,
            -10.645492988856525
        ],
        "target_point_next": [
            12.20109678811605,
            -61.308635157123824
        ]
    },
    "275": {
        "acceleration": [
            -0.009131534025073051,
            0.0014132168143987656,
            0.016689805313944817
        ],
        "angular_velocity": [
            -1.934478759765625,
            0.6040247678756714,
            0.08615868538618088
        ],
        "forward_vector": [
            -0.11856918781995773,
            -0.992359459400177,
            -0.034119535237550735
        ],
        "right_vector": [
            0.9929455518722534,
            -0.1185276210308075,
            -0.003245346015319228
        ],
        "location": [
            1984.7427978515625,
            2067.647216796875,
            360.4317626953125
        ],
        "rotation": [
            0.1860532909631729,
            -1.9552849531173706,
            -96.81352233886719
        ],
        "velocity": [
            0.006353456061333418,
            0.006327718496322632,
            0.0007571753230877221
        ],
        "speed": 0.008966962991559512,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.86080169677734,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9249267578125,
                        "y": 2158.991455078125,
                        "z": 362.078125
                    },
                    "rotation": {
                        "roll": -5.336997688232259e-08,
                        "pitch": -1.0597174167633057,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.172597885131836,
                "transform": {
                    "location": {
                        "x": 1982.44873046875,
                        "y": 2016.9593505859375,
                        "z": 359.73919677734375
                    },
                    "rotation": {
                        "roll": -0.0005798764177598059,
                        "pitch": 0.8065565228462219,
                        "yaw": 90.05062103271484
                    }
                },
                "velocity": {
                    "x": -0.009511498734354973,
                    "y": 5.172142028808594,
                    "z": 0.06801431626081467
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.30119514465332,
                "transform": {
                    "location": {
                        "x": 1940.5943603515625,
                        "y": 2065.536865234375,
                        "z": 361.0790100097656
                    },
                    "rotation": {
                        "roll": 0.0025984072126448154,
                        "pitch": -0.5880724191665649,
                        "yaw": 0.06476665288209915
                    }
                },
                "velocity": {
                    "x": 8.300469398498535,
                    "y": 0.01679917983710766,
                    "z": -0.10846108198165894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.953369140625,
                        "y": 2144.260986328125,
                        "z": 361.6883850097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0170561075210571,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.039945602416992,
                "transform": {
                    "location": {
                        "x": 1985.0750732421875,
                        "y": 2132.1337890625,
                        "z": 361.4691467285156
                    },
                    "rotation": {
                        "roll": -0.0026855997275561094,
                        "pitch": -0.9572714567184448,
                        "yaw": -89.74253845214844
                    }
                },
                "velocity": {
                    "x": 0.012880180031061172,
                    "y": -5.0391764640808105,
                    "z": -0.08709652721881866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.889133334159851,
                "transform": {
                    "location": {
                        "x": 1957.24072265625,
                        "y": 2065.521484375,
                        "z": 360.8390808105469
                    },
                    "rotation": {
                        "roll": -0.005279540084302425,
                        "pitch": -0.889618456363678,
                        "yaw": 0.12984046339988708
                    }
                },
                "velocity": {
                    "x": 1.888883113861084,
                    "y": -0.007983135059475899,
                    "z": -0.029690813273191452
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5795326232910156,
                "transform": {
                    "location": {
                        "x": 1985.109619140625,
                        "y": 2114.950927734375,
                        "z": 361.2171936035156
                    },
                    "rotation": {
                        "roll": -0.00024416076485067606,
                        "pitch": -0.9687529802322388,
                        "yaw": -89.89998626708984
                    }
                },
                "velocity": {
                    "x": 0.0028321947902441025,
                    "y": -1.5793159008026123,
                    "z": -0.026010559871792793
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.96096420288086,
                "transform": {
                    "location": {
                        "x": 1982.3634033203125,
                        "y": 2063.563720703125,
                        "z": 360.40283203125
                    },
                    "rotation": {
                        "roll": -1.0812073945999146,
                        "pitch": 1.0657621622085571,
                        "yaw": 90.11634063720703
                    }
                },
                "velocity": {
                    "x": -0.009114840999245644,
                    "y": 8.96031665802002,
                    "z": 0.10732725262641907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009162055212073028,
                "transform": {
                    "location": {
                        "x": 1968.758056640625,
                        "y": 2065.43896484375,
                        "z": 360.6579284667969
                    },
                    "rotation": {
                        "roll": 0.0225641168653965,
                        "pitch": -0.990841805934906,
                        "yaw": -1.5389404296875
                    }
                },
                "velocity": {
                    "x": 4.8398374929092824e-05,
                    "y": 7.324487523874268e-05,
                    "z": 0.000911989773157984
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.622944355010986,
                "transform": {
                    "location": {
                        "x": 1985.137939453125,
                        "y": 2099.994140625,
                        "z": 360.9384765625
                    },
                    "rotation": {
                        "roll": 0.00445522228255868,
                        "pitch": -0.857297956943512,
                        "yaw": -90.01300048828125
                    }
                },
                "velocity": {
                    "x": 0.017827080562710762,
                    "y": -6.622097015380859,
                    "z": -0.10443046689033508
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.351158380508423,
                "transform": {
                    "location": {
                        "x": 1985.1676025390625,
                        "y": 2087.433349609375,
                        "z": 360.7420654296875
                    },
                    "rotation": {
                        "roll": 0.0011191371595486999,
                        "pitch": -1.119351863861084,
                        "yaw": -89.92034912109375
                    }
                },
                "velocity": {
                    "x": 0.003302244236692786,
                    "y": -2.350884199142456,
                    "z": -0.035752031952142715
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0008189678192139,
        "expert_target_speed": 0,
        "target_point": [
            6.347392153556683,
            -10.643778644545328
        ],
        "target_point_next": [
            12.216130925430996,
            -61.304947990097055
        ]
    },
    "280": {
        "acceleration": [
            -0.0061837490648031235,
            -0.012795221991837025,
            -0.003049708902835846
        ],
        "angular_velocity": [
            -0.8619937896728516,
            0.34488147497177124,
            0.04214346036314964
        ],
        "forward_vector": [
            -0.11835760623216629,
            -0.9925773739814758,
            -0.027958443388342857
        ],
        "right_vector": [
            0.9929702877998352,
            -0.11827659606933594,
            -0.004539296962320805
        ],
        "location": [
            1984.74365234375,
            2067.645263671875,
            360.4305114746094
        ],
        "rotation": [
            0.260185182094574,
            -1.6021095514297485,
            -96.79999542236328
        ],
        "velocity": [
            0.003917013760656118,
            0.0026623946614563465,
            0.001488065579906106
        ],
        "speed": 0.00473617378635124,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.86156463623047,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.926513671875,
                        "y": 2158.158935546875,
                        "z": 362.04119873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.745570182800293,
                "transform": {
                    "location": {
                        "x": 1982.4453125,
                        "y": 2018.6644287109375,
                        "z": 359.7610778808594
                    },
                    "rotation": {
                        "roll": 8.866964344633743e-05,
                        "pitch": 0.8854998350143433,
                        "yaw": 90.06463623046875
                    }
                },
                "velocity": {
                    "x": -0.012704779393970966,
                    "y": 7.744889259338379,
                    "z": 0.10190194845199585
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.169673919677734,
                "transform": {
                    "location": {
                        "x": 1942.5369873046875,
                        "y": 2065.540283203125,
                        "z": 361.0529479980469
                    },
                    "rotation": {
                        "roll": 0.0023966776207089424,
                        "pitch": -0.8620586395263672,
                        "yaw": -0.14166255295276642
                    }
                },
                "velocity": {
                    "x": 7.169015407562256,
                    "y": 0.010085171088576317,
                    "z": -0.09664216637611389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9556884765625,
                        "y": 2143.011474609375,
                        "z": 361.66632080078125
                    },
                    "rotation": {
                        "roll": -5.336902475505667e-08,
                        "pitch": -1.0028698444366455,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.392968654632568,
                "transform": {
                    "location": {
                        "x": 1985.0799560546875,
                        "y": 2130.81494140625,
                        "z": 361.44671630859375
                    },
                    "rotation": {
                        "roll": -0.0006713751936331391,
                        "pitch": -0.967530369758606,
                        "yaw": -89.84058380126953
                    }
                },
                "velocity": {
                    "x": 0.012233623303472996,
                    "y": -5.3921637535095215,
                    "z": -0.09237906336784363
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9482479095458984,
                "transform": {
                    "location": {
                        "x": 1957.754638671875,
                        "y": 2065.5205078125,
                        "z": 360.83123779296875
                    },
                    "rotation": {
                        "roll": -0.003967284690588713,
                        "pitch": -0.8976712226867676,
                        "yaw": 0.035838399082422256
                    }
                },
                "velocity": {
                    "x": 1.9479953050613403,
                    "y": -0.00778114004060626,
                    "z": -0.030394695699214935
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.5486268997192383,
                "transform": {
                    "location": {
                        "x": 1985.1104736328125,
                        "y": 2114.4384765625,
                        "z": 361.2077941894531
                    },
                    "rotation": {
                        "roll": -0.00042728474363684654,
                        "pitch": -0.8860189318656921,
                        "yaw": -89.90618133544922
                    }
                },
                "velocity": {
                    "x": 0.005066364072263241,
                    "y": -2.5482640266418457,
                    "z": -0.042712703347206116
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.311427116394043,
                "transform": {
                    "location": {
                        "x": 1982.3612060546875,
                        "y": 2065.885986328125,
                        "z": 360.43316650390625
                    },
                    "rotation": {
                        "roll": -1.0132750272750854,
                        "pitch": 0.26372042298316956,
                        "yaw": 90.12858581542969
                    }
                },
                "velocity": {
                    "x": -0.012302317656576633,
                    "y": 9.310879707336426,
                    "z": 0.10020712018013
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009158194880001247,
                "transform": {
                    "location": {
                        "x": 1968.758056640625,
                        "y": 2065.43896484375,
                        "z": 360.6579284667969
                    },
                    "rotation": {
                        "roll": 0.0225641168653965,
                        "pitch": -0.990841805934906,
                        "yaw": -1.5389404296875
                    }
                },
                "velocity": {
                    "x": 3.0510871511069126e-05,
                    "y": 2.793814019241836e-05,
                    "z": 0.0009148846147581935
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.405197262763977,
                "transform": {
                    "location": {
                        "x": 1985.140869140625,
                        "y": 2098.8798828125,
                        "z": 360.9197082519531
                    },
                    "rotation": {
                        "roll": 0.020025188103318214,
                        "pitch": -1.5292041301727295,
                        "yaw": -90.30187225341797
                    }
                },
                "velocity": {
                    "x": 0.005141547415405512,
                    "y": -1.405011534690857,
                    "z": -0.02226104773581028
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6906344294548035,
                "transform": {
                    "location": {
                        "x": 1985.1685791015625,
                        "y": 2087.130615234375,
                        "z": 360.739013671875
                    },
                    "rotation": {
                        "roll": 0.000595398829318583,
                        "pitch": -1.5284937620162964,
                        "yaw": -90.016357421875
                    }
                },
                "velocity": {
                    "x": 0.0002595426340121776,
                    "y": -0.6905591487884521,
                    "z": -0.010193910449743271
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9999762177467346,
        "expert_target_speed": 0,
        "target_point": [
            6.34302623953387,
            -10.646365365118697
        ],
        "target_point_next": [
            12.19973459629844,
            -61.30892690176995
        ]
    },
    "285": {
        "acceleration": [
            -0.004008244723081589,
            -0.004692324437201023,
            -0.019609181210398674
        ],
        "angular_velocity": [
            -0.27761542797088623,
            0.1811559796333313,
            0.018089760094881058
        ],
        "forward_vector": [
            -0.11826539039611816,
            -0.9926514625549316,
            -0.025618847459554672
        ],
        "right_vector": [
            0.9929795265197754,
            -0.11816827207803726,
            -0.005277870688587427
        ],
        "location": [
            1984.7430419921875,
            2067.64404296875,
            360.4299621582031
        ],
        "rotation": [
            0.3025004267692566,
            -1.4680124521255493,
            -96.79424285888672
        ],
        "velocity": [
            0.002555904444307089,
            0.0006002435111440718,
            0.00018014006491284817
        ],
        "speed": 0.0026254408774716853,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.86090087890625,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9288330078125,
                        "y": 2156.91015625,
                        "z": 361.98583984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.105576515197754,
                "transform": {
                    "location": {
                        "x": 1982.4415283203125,
                        "y": 2020.782470703125,
                        "z": 359.7892150878906
                    },
                    "rotation": {
                        "roll": 0.0008345511159859598,
                        "pitch": 0.8608018755912781,
                        "yaw": 90.09471893310547
                    }
                },
                "velocity": {
                    "x": -0.016915827989578247,
                    "y": 9.104762077331543,
                    "z": 0.1206062063574791
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.848011016845703,
                "transform": {
                    "location": {
                        "x": 1944.138671875,
                        "y": 2065.5400390625,
                        "z": 361.0310363769531
                    },
                    "rotation": {
                        "roll": 0.0072843944653868675,
                        "pitch": -1.0823936462402344,
                        "yaw": -0.13232421875
                    }
                },
                "velocity": {
                    "x": 4.847562789916992,
                    "y": -0.005474928300827742,
                    "z": -0.06570009142160416
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.957275390625,
                        "y": 2142.178466796875,
                        "z": 361.6516418457031
                    },
                    "rotation": {
                        "roll": -5.336902475505667e-08,
                        "pitch": -1.0028698444366455,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.446099758148193,
                "transform": {
                    "location": {
                        "x": 1985.083740234375,
                        "y": 2129.3408203125,
                        "z": 361.4212341308594
                    },
                    "rotation": {
                        "roll": -0.001190165407024324,
                        "pitch": -0.954218327999115,
                        "yaw": -89.86434173583984
                    }
                },
                "velocity": {
                    "x": 0.012648322619497776,
                    "y": -6.445112228393555,
                    "z": -0.1121232658624649
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.117957592010498,
                "transform": {
                    "location": {
                        "x": 1958.22998046875,
                        "y": 2065.51904296875,
                        "z": 360.8239440917969
                    },
                    "rotation": {
                        "roll": -0.002960205078125,
                        "pitch": -0.9099109172821045,
                        "yaw": -0.027557373046875
                    }
                },
                "velocity": {
                    "x": 2.1176958084106445,
                    "y": -0.008569725789129734,
                    "z": -0.032178476452827454
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6814777851104736,
                "transform": {
                    "location": {
                        "x": 1985.1124267578125,
                        "y": 2113.630615234375,
                        "z": 361.19384765625
                    },
                    "rotation": {
                        "roll": -0.0005188047070987523,
                        "pitch": -0.8507956266403198,
                        "yaw": -89.90380096435547
                    }
                },
                "velocity": {
                    "x": 0.006038095336407423,
                    "y": -3.680962085723877,
                    "z": -0.06131953001022339
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.257869720458984,
                "transform": {
                    "location": {
                        "x": 1982.3590087890625,
                        "y": 2068.060791015625,
                        "z": 360.45794677734375
                    },
                    "rotation": {
                        "roll": -0.24896246194839478,
                        "pitch": 0.9071993231773376,
                        "yaw": 90.19197082519531
                    }
                },
                "velocity": {
                    "x": -0.03057130053639412,
                    "y": 8.25678539276123,
                    "z": 0.13027237355709076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0998636856675148,
                "transform": {
                    "location": {
                        "x": 1968.7628173828125,
                        "y": 2065.4384765625,
                        "z": 360.6578674316406
                    },
                    "rotation": {
                        "roll": 0.023825567215681076,
                        "pitch": -0.979305624961853,
                        "yaw": -1.542266845703125
                    }
                },
                "velocity": {
                    "x": 0.09972413629293442,
                    "y": -0.004770020954310894,
                    "z": -0.0022579955402761698
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9431952238082886,
                "transform": {
                    "location": {
                        "x": 1985.140869140625,
                        "y": 2098.75634765625,
                        "z": 360.9183654785156
                    },
                    "rotation": {
                        "roll": 0.013665059581398964,
                        "pitch": -1.1404707431793213,
                        "yaw": -90.28729248046875
                    }
                },
                "velocity": {
                    "x": -0.0006200331845320761,
                    "y": -0.9430810809135437,
                    "z": -0.014660882763564587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5488165616989136,
                "transform": {
                    "location": {
                        "x": 1985.1683349609375,
                        "y": 2086.839599609375,
                        "z": 360.7323303222656
                    },
                    "rotation": {
                        "roll": 0.0017965626902878284,
                        "pitch": -0.9028553366661072,
                        "yaw": -89.98965454101562
                    }
                },
                "velocity": {
                    "x": 0.0017301586922258139,
                    "y": -1.5486406087875366,
                    "z": -0.023277992382645607
                },
                "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": -1.0004911422729492,
        "expert_target_speed": 10.0,
        "target_point": [
            6.340680864430161,
            -10.646535800888728
        ],
        "target_point_next": [
            12.192340213618019,
            -61.30968075945041
        ]
    },
    "290": {
        "acceleration": [
            -0.8039705753326416,
            -1.9281790256500244,
            0.0013473490253090858
        ],
        "angular_velocity": [
            -0.8134623765945435,
            0.5225063562393188,
            -1.865595817565918
        ],
        "forward_vector": [
            -0.11917117983102798,
            -0.9925760626792908,
            -0.024309026077389717
        ],
        "right_vector": [
            0.9928684234619141,
            -0.11905516684055328,
            -0.006170233245939016
        ],
        "location": [
            1984.7408447265625,
            2067.634521484375,
            360.4293212890625
        ],
        "rotation": [
            0.3536350727081299,
            -1.3929418325424194,
            -96.84630584716797
        ],
        "velocity": [
            -0.04051612690091133,
            -0.15516018867492676,
            -0.0038902282249182463
        ],
        "speed": 0.16036284073528262,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.85823059082031,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.930419921875,
                        "y": 2156.07763671875,
                        "z": 361.9489440917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.190043449401855,
                "transform": {
                    "location": {
                        "x": 1982.437744140625,
                        "y": 2023.12060546875,
                        "z": 359.82073974609375
                    },
                    "rotation": {
                        "roll": -0.0003662244707811624,
                        "pitch": 0.799507737159729,
                        "yaw": 90.10350799560547
                    }
                },
                "velocity": {
                    "x": -0.01647627167403698,
                    "y": 9.18920612335205,
                    "z": 0.12296033650636673
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014578566187992692,
                "transform": {
                    "location": {
                        "x": 1944.747802734375,
                        "y": 2065.539306640625,
                        "z": 361.02203369140625
                    },
                    "rotation": {
                        "roll": 0.001959086861461401,
                        "pitch": -1.4549872875213623,
                        "yaw": -0.057739246636629105
                    }
                },
                "velocity": {
                    "x": 0.0013834041310474277,
                    "y": -0.0002748221450019628,
                    "z": 0.00036879777326248586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9598388671875,
                        "y": 2140.928955078125,
                        "z": 361.6295471191406
                    },
                    "rotation": {
                        "roll": -5.336902475505667e-08,
                        "pitch": -1.0028698444366455,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.054685592651367,
                "transform": {
                    "location": {
                        "x": 1985.0877685546875,
                        "y": 2127.611083984375,
                        "z": 361.3916015625
                    },
                    "rotation": {
                        "roll": -0.00015258000348694623,
                        "pitch": -0.9581252336502075,
                        "yaw": -89.87252807617188
                    }
                },
                "velocity": {
                    "x": 0.013761247508227825,
                    "y": -7.053624153137207,
                    "z": -0.1216045469045639
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12393665313720703,
                "transform": {
                    "location": {
                        "x": 1958.664306640625,
                        "y": 2065.517822265625,
                        "z": 360.8173828125
                    },
                    "rotation": {
                        "roll": -0.0029296879656612873,
                        "pitch": -0.944819986820221,
                        "yaw": -0.0731506198644638
                    }
                },
                "velocity": {
                    "x": 0.12391462922096252,
                    "y": -0.00040283563430421054,
                    "z": -0.0023016834165900946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6347172260284424,
                "transform": {
                    "location": {
                        "x": 1985.1143798828125,
                        "y": 2112.8291015625,
                        "z": 361.1820373535156
                    },
                    "rotation": {
                        "roll": -9.15281125344336e-05,
                        "pitch": -1.0113186836242676,
                        "yaw": -89.90227508544922
                    }
                },
                "velocity": {
                    "x": 0.005334669258445501,
                    "y": -2.6343603134155273,
                    "z": -0.04304149001836777
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.801569938659668,
                "transform": {
                    "location": {
                        "x": 1982.3524169921875,
                        "y": 2069.870361328125,
                        "z": 360.48272705078125
                    },
                    "rotation": {
                        "roll": -0.08535768836736679,
                        "pitch": 1.1074399948120117,
                        "yaw": 89.95736694335938
                    }
                },
                "velocity": {
                    "x": -0.020244600251317024,
                    "y": 6.8007493019104,
                    "z": 0.10371646285057068
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6854352951049805,
                "transform": {
                    "location": {
                        "x": 1968.8377685546875,
                        "y": 2065.43505859375,
                        "z": 360.65655517578125
                    },
                    "rotation": {
                        "roll": 0.03064788691699505,
                        "pitch": -0.8915035724639893,
                        "yaw": -1.6442259550094604
                    }
                },
                "velocity": {
                    "x": 0.6846148371696472,
                    "y": -0.031282227486371994,
                    "z": -0.012059859931468964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.003222703933716,
                "transform": {
                    "location": {
                        "x": 1985.1409912109375,
                        "y": 2098.38037109375,
                        "z": 360.9129333496094
                    },
                    "rotation": {
                        "roll": 0.00688346941024065,
                        "pitch": -0.8288912177085876,
                        "yaw": -90.26799774169922
                    }
                },
                "velocity": {
                    "x": 0.0005529928603209555,
                    "y": -2.0029733180999756,
                    "z": -0.031590536236763
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0564724206924438,
                "transform": {
                    "location": {
                        "x": 1985.168701171875,
                        "y": 2086.404052734375,
                        "z": 360.72564697265625
                    },
                    "rotation": {
                        "roll": 0.00195308739785105,
                        "pitch": -0.8476264476776123,
                        "yaw": -90.0306396484375
                    }
                },
                "velocity": {
                    "x": 0.005831426475197077,
                    "y": -1.0563163757324219,
                    "z": -0.017195090651512146
                },
                "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": -1.000493049621582,
        "expert_target_speed": 10.0,
        "target_point": [
            6.340643919215909,
            -10.639719070615968
        ],
        "target_point_next": [
            12.238370282369099,
            -61.297522003397596
        ]
    },
    "295": {
        "acceleration": [
            -1.4263957738876343,
            -2.2818922996520996,
            -0.15564727783203125
        ],
        "angular_velocity": [
            -1.4509470462799072,
            2.248417854309082,
            -8.71163558959961
        ],
        "forward_vector": [
            -0.14161241054534912,
            -0.9897406697273254,
            -0.018955761566758156
        ],
        "right_vector": [
            0.9898576736450195,
            -0.1413586288690567,
            -0.014125196263194084
        ],
        "location": [
            1984.6937255859375,
            2067.505615234375,
            360.4237060546875
        ],
        "rotation": [
            0.8094865083694458,
            -1.0861502885818481,
            -98.14263153076172
        ],
        "velocity": [
            -0.3645382523536682,
            -0.8501500487327576,
            -0.0332278348505497
        ],
        "speed": 0.9250098609146697,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.80476379394531,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9329833984375,
                        "y": 2154.828857421875,
                        "z": 361.8935852050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.389480590820312,
                "transform": {
                    "location": {
                        "x": 1982.433837890625,
                        "y": 2025.3087158203125,
                        "z": 359.85052490234375
                    },
                    "rotation": {
                        "roll": -0.0008239054004661739,
                        "pitch": 0.7319844961166382,
                        "yaw": 90.10364532470703
                    }
                },
                "velocity": {
                    "x": -0.015176394954323769,
                    "y": 8.38870906829834,
                    "z": 0.1127842515707016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.076292872428894,
                "transform": {
                    "location": {
                        "x": 1944.884033203125,
                        "y": 2065.539306640625,
                        "z": 361.02099609375
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.8671607971191406,
                        "yaw": -0.051910400390625
                    }
                },
                "velocity": {
                    "x": 1.0762040615081787,
                    "y": -0.0013433463172987103,
                    "z": -0.013756970874965191
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.961181640625,
                        "y": 2140.095947265625,
                        "z": 361.6148681640625
                    },
                    "rotation": {
                        "roll": -5.336902475505667e-08,
                        "pitch": -1.0028698444366455,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.94065523147583,
                "transform": {
                    "location": {
                        "x": 1985.0911865234375,
                        "y": 2125.99267578125,
                        "z": 361.36444091796875
                    },
                    "rotation": {
                        "roll": 0.0006895866245031357,
                        "pitch": -1.0285922288894653,
                        "yaw": -89.88875579833984
                    }
                },
                "velocity": {
                    "x": 0.008696787059307098,
                    "y": -4.939917087554932,
                    "z": -0.08495783805847168
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00021226239914540201,
                "transform": {
                    "location": {
                        "x": 1958.664306640625,
                        "y": 2065.517822265625,
                        "z": 360.8172607421875
                    },
                    "rotation": {
                        "roll": -0.0027465822640806437,
                        "pitch": -0.93109130859375,
                        "yaw": -0.073394775390625
                    }
                },
                "velocity": {
                    "x": -4.047155357511656e-07,
                    "y": 6.517278961837292e-05,
                    "z": 0.00020200907601974905
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.3738510012626648,
                "transform": {
                    "location": {
                        "x": 1985.114990234375,
                        "y": 2112.515625,
                        "z": 361.1784362792969
                    },
                    "rotation": {
                        "roll": 0.0004566539719235152,
                        "pitch": -1.1903653144836426,
                        "yaw": -89.91506958007812
                    }
                },
                "velocity": {
                    "x": 0.0006796965026296675,
                    "y": -0.37377676367759705,
                    "z": -0.007419013883918524
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.088885307312012,
                "transform": {
                    "location": {
                        "x": 1982.3489990234375,
                        "y": 2071.5869140625,
                        "z": 360.5127258300781
                    },
                    "rotation": {
                        "roll": 0.021086394786834717,
                        "pitch": 0.8259406089782715,
                        "yaw": 90.09849548339844
                    }
                },
                "velocity": {
                    "x": -0.018818538635969162,
                    "y": 7.088032245635986,
                    "z": 0.10836751759052277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9570907354354858,
                "transform": {
                    "location": {
                        "x": 1969.1693115234375,
                        "y": 2065.418701171875,
                        "z": 360.65093994140625
                    },
                    "rotation": {
                        "roll": 0.044257551431655884,
                        "pitch": -0.7640044093132019,
                        "yaw": -1.9034732580184937
                    }
                },
                "velocity": {
                    "x": 1.9545018672943115,
                    "y": -0.09486769139766693,
                    "z": -0.03356906399130821
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1766543686389923,
                "transform": {
                    "location": {
                        "x": 1985.141357421875,
                        "y": 2097.932861328125,
                        "z": 360.9055480957031
                    },
                    "rotation": {
                        "roll": 0.0027247173711657524,
                        "pitch": -1.082154631614685,
                        "yaw": -90.00469970703125
                    }
                },
                "velocity": {
                    "x": -0.0015252131270244718,
                    "y": -0.17662198841571808,
                    "z": -0.0030190753750503063
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9292193055152893,
                "transform": {
                    "location": {
                        "x": 1985.1690673828125,
                        "y": 2086.2783203125,
                        "z": 360.7242431640625
                    },
                    "rotation": {
                        "roll": 0.006517020054161549,
                        "pitch": -1.0137298107147217,
                        "yaw": -90.0412826538086
                    }
                },
                "velocity": {
                    "x": 0.0016433642012998462,
                    "y": -0.9291108250617981,
                    "z": -0.014106168411672115
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0012457370758057,
        "expert_target_speed": 0,
        "target_point": [
            6.44543337842677,
            -10.465171494921167
        ],
        "target_point_next": [
            13.487635609044702,
            -60.97659160932947
        ]
    },
    "300": {
        "acceleration": [
            -1.5950191020965576,
            -2.2906494140625,
            0.16578227281570435
        ],
        "angular_velocity": [
            -0.43232983350753784,
            3.8207948207855225,
            -17.74534034729004
        ],
        "forward_vector": [
            -0.20498542487621307,
            -0.9787085056304932,
            -0.010515019297599792
        ],
        "right_vector": [
            0.9785246849060059,
            -0.20468522608280182,
            -0.02435838058590889
        ],
        "location": [
            1984.552001953125,
            2067.19580078125,
            360.41015625
        ],
        "rotation": [
            1.3958476781845093,
            -0.6024773120880127,
            -101.82930755615234
        ],
        "velocity": [
            -0.7869806289672852,
            -1.4997438192367554,
            -0.042563967406749725
        ],
        "speed": 1.6936853408200099,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.64852142333984,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9346923828125,
                        "y": 2153.99609375,
                        "z": 361.8675231933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.045503854751587,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.969502925872803,
                "transform": {
                    "location": {
                        "x": 1982.429931640625,
                        "y": 2027.3409423828125,
                        "z": 359.877685546875
                    },
                    "rotation": {
                        "roll": -0.0003661929804366082,
                        "pitch": 0.7432406544685364,
                        "yaw": 90.10718536376953
                    }
                },
                "velocity": {
                    "x": -0.015120316296815872,
                    "y": 7.968766689300537,
                    "z": 0.10723838210105896
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.989784598350525,
                "transform": {
                    "location": {
                        "x": 1945.2784423828125,
                        "y": 2065.539306640625,
                        "z": 361.0160217285156
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -0.6836540699005127,
                        "yaw": -0.0563049279153347
                    }
                },
                "velocity": {
                    "x": 1.9896094799041748,
                    "y": -0.0023663509637117386,
                    "z": -0.026294641196727753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9639892578125,
                        "y": 2138.846435546875,
                        "z": 361.5929260253906
                    },
                    "rotation": {
                        "roll": -5.336902475505667e-08,
                        "pitch": -1.0028698444366455,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006589752738364041,
                "transform": {
                    "location": {
                        "x": 1985.091796875,
                        "y": 2125.564208984375,
                        "z": 361.35791015625
                    },
                    "rotation": {
                        "roll": -0.0007934751338325441,
                        "pitch": -1.1484689712524414,
                        "yaw": -89.88976287841797
                    }
                },
                "velocity": {
                    "x": 6.416904943762347e-05,
                    "y": 0.00010287224722560495,
                    "z": 0.0006477253045886755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3698101341724396,
                "transform": {
                    "location": {
                        "x": 1958.699951171875,
                        "y": 2065.517822265625,
                        "z": 360.8165283203125
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": -0.9068851470947266,
                        "yaw": -0.0798950120806694
                    }
                },
                "velocity": {
                    "x": 0.369754433631897,
                    "y": -0.0032179993577301502,
                    "z": -0.005553140304982662
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3612525463104248,
                "transform": {
                    "location": {
                        "x": 1985.115234375,
                        "y": 2112.26708984375,
                        "z": 361.1720886230469
                    },
                    "rotation": {
                        "roll": -0.00018305225239600986,
                        "pitch": -0.938324511051178,
                        "yaw": -89.94890594482422
                    }
                },
                "velocity": {
                    "x": 0.0026368810795247555,
                    "y": -1.3610793352127075,
                    "z": -0.021558275446295738
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.847185134887695,
                "transform": {
                    "location": {
                        "x": 1982.344970703125,
                        "y": 2073.43212890625,
                        "z": 360.54034423828125
                    },
                    "rotation": {
                        "roll": 0.005115455947816372,
                        "pitch": 0.7995692491531372,
                        "yaw": 90.1138916015625
                    }
                },
                "velocity": {
                    "x": -0.019196176901459694,
                    "y": 7.846307754516602,
                    "z": 0.11574367433786392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.367980480194092,
                "transform": {
                    "location": {
                        "x": 1969.82177734375,
                        "y": 2065.38623046875,
                        "z": 360.6397705078125
                    },
                    "rotation": {
                        "roll": 0.05266732722520828,
                        "pitch": -0.7074573040008545,
                        "yaw": -2.270172357559204
                    }
                },
                "velocity": {
                    "x": 3.363165855407715,
                    "y": -0.17071716487407684,
                    "z": -0.05713602527976036
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1032110452651978,
                "transform": {
                    "location": {
                        "x": 1985.141357421875,
                        "y": 2097.802978515625,
                        "z": 360.9037170410156
                    },
                    "rotation": {
                        "roll": 0.0025134461466223,
                        "pitch": -0.9000207781791687,
                        "yaw": -90.0099868774414
                    }
                },
                "velocity": {
                    "x": 0.001322360709309578,
                    "y": -1.1030555963516235,
                    "z": -0.018467402085661888
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.789622187614441,
                "transform": {
                    "location": {
                        "x": 1985.1690673828125,
                        "y": 2085.928466796875,
                        "z": 360.7176513671875
                    },
                    "rotation": {
                        "roll": 0.0023786642123013735,
                        "pitch": -0.6597552299499512,
                        "yaw": -90.0328598022461
                    }
                },
                "velocity": {
                    "x": 0.0016206493601202965,
                    "y": -1.7894225120544434,
                    "z": -0.026683010160923004
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0009593963623047,
        "expert_target_speed": 0,
        "target_point": [
            6.7727183124701655,
            -9.95387050715834
        ],
        "target_point_next": [
            17.0482325966344,
            -59.907949223786765
        ]
    },
    "305": {
        "acceleration": [
            -3.61466646194458,
            -3.115229606628418,
            0.4205954372882843
        ],
        "angular_velocity": [
            -1.938547968864441,
            1.672046184539795,
            -29.093523025512695
        ],
        "forward_vector": [
            -0.3041132986545563,
            -0.952634871006012,
            -0.001367806806229055
        ],
        "right_vector": [
            0.9518272280693054,
            -0.3037956953048706,
            -0.04163074120879173
        ],
        "location": [
            1984.2843017578125,
            2066.712646484375,
            360.3996276855469
        ],
        "rotation": [
            2.385957717895508,
            -0.07836958765983582,
            -107.70484161376953
        ],
        "velocity": [
            -1.5044982433319092,
            -2.2885026931762695,
            -0.017707986757159233
        ],
        "speed": 2.7387514565699167,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.36006164550781,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9371337890625,
                        "y": 2152.74658203125,
                        "z": 361.8437805175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0313106775283813,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.718111991882324,
                "transform": {
                    "location": {
                        "x": 1982.426025390625,
                        "y": 2029.3065185546875,
                        "z": 359.9040832519531
                    },
                    "rotation": {
                        "roll": -0.0004883470246568322,
                        "pitch": 0.7504259943962097,
                        "yaw": 90.11248779296875
                    }
                },
                "velocity": {
                    "x": -0.015218115411698818,
                    "y": 7.717401027679443,
                    "z": 0.10364009439945221
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.231121063232422,
                "transform": {
                    "location": {
                        "x": 1945.859375,
                        "y": 2065.539306640625,
                        "z": 361.0081481933594
                    },
                    "rotation": {
                        "roll": -0.0023498532827943563,
                        "pitch": -0.7224700450897217,
                        "yaw": -0.062591552734375
                    }
                },
                "velocity": {
                    "x": 2.2309131622314453,
                    "y": -0.002292406978085637,
                    "z": -0.03037147969007492
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.965576171875,
                        "y": 2138.013427734375,
                        "z": 361.5784606933594
                    },
                    "rotation": {
                        "roll": 1.067375876573351e-07,
                        "pitch": -0.9886425137519836,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.889159619808197,
                "transform": {
                    "location": {
                        "x": 1985.091796875,
                        "y": 2125.426025390625,
                        "z": 361.3541564941406
                    },
                    "rotation": {
                        "roll": -0.000732380838599056,
                        "pitch": -0.9927611351013184,
                        "yaw": -89.87905883789062
                    }
                },
                "velocity": {
                    "x": 0.0013802122557535768,
                    "y": -0.889035701751709,
                    "z": -0.014780721627175808
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.144981026649475,
                "transform": {
                    "location": {
                        "x": 1958.89697265625,
                        "y": 2065.517333984375,
                        "z": 360.813232421875
                    },
                    "rotation": {
                        "roll": -0.0030517573468387127,
                        "pitch": -0.895751953125,
                        "yaw": -0.0348510704934597
                    }
                },
                "velocity": {
                    "x": 1.1448216438293457,
                    "y": -0.0039044672157615423,
                    "z": -0.01869933120906353
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3297481536865234,
                "transform": {
                    "location": {
                        "x": 1985.1156005859375,
                        "y": 2111.806884765625,
                        "z": 361.1638488769531
                    },
                    "rotation": {
                        "roll": -6.105178181314841e-05,
                        "pitch": -0.865623950958252,
                        "yaw": -89.93816375732422
                    }
                },
                "velocity": {
                    "x": 0.004046101588755846,
                    "y": -2.3294284343719482,
                    "z": -0.03838423639535904
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.605172157287598,
                "transform": {
                    "location": {
                        "x": 1982.33935546875,
                        "y": 2075.669189453125,
                        "z": 360.5744934082031
                    },
                    "rotation": {
                        "roll": -0.0004577365762088448,
                        "pitch": 0.6971368789672852,
                        "yaw": 90.12443542480469
                    }
                },
                "velocity": {
                    "x": -0.022174591198563576,
                    "y": 9.604077339172363,
                    "z": 0.14330284297466278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.351790189743042,
                "transform": {
                    "location": {
                        "x": 1970.727294921875,
                        "y": 2065.339111328125,
                        "z": 360.62420654296875
                    },
                    "rotation": {
                        "roll": 0.05216313898563385,
                        "pitch": -0.9135992527008057,
                        "yaw": -2.624817132949829
                    }
                },
                "velocity": {
                    "x": 3.3465657234191895,
                    "y": -0.17790168523788452,
                    "z": -0.057851944118738174
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.162295341491699,
                "transform": {
                    "location": {
                        "x": 1985.1414794921875,
                        "y": 2097.390380859375,
                        "z": 360.8973388671875
                    },
                    "rotation": {
                        "roll": 0.0022676412481814623,
                        "pitch": -0.7709643840789795,
                        "yaw": -89.99711608886719
                    }
                },
                "velocity": {
                    "x": 0.0029290239326655865,
                    "y": -2.162026882171631,
                    "z": -0.03394916281104088
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6890161037445068,
                "transform": {
                    "location": {
                        "x": 1985.1683349609375,
                        "y": 2085.6611328125,
                        "z": 360.71533203125
                    },
                    "rotation": {
                        "roll": -0.003600990166887641,
                        "pitch": -1.1137715578079224,
                        "yaw": -89.88809967041016
                    }
                },
                "velocity": {
                    "x": 0.0009700057562440634,
                    "y": -0.6889351606369019,
                    "z": -0.010514802299439907
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9989997744560242,
        "expert_target_speed": 0,
        "target_point": [
            7.214415083917054,
            -9.100181946180912
        ],
        "target_point_next": [
            22.54964746727165,
            -57.739947796559804
        ]
    },
    "310": {
        "acceleration": [
            -5.206899642944336,
            -2.3393726348876953,
            0.10196052491664886
        ],
        "angular_velocity": [
            -1.4923025369644165,
            -1.1250858306884766,
            -41.02525329589844
        ],
        "forward_vector": [
            -0.4450809955596924,
            -0.8954821228981018,
            0.003833284368738532
        ],
        "right_vector": [
            0.8948022127151489,
            -0.4449026584625244,
            -0.03729204833507538
        ],
        "location": [
            1983.793701171875,
            2066.02783203125,
            360.40325927734375
        ],
        "rotation": [
            2.137188196182251,
            0.21963155269622803,
            -116.4287338256836
        ],
        "velocity": [
            -2.6839773654937744,
            -3.016920328140259,
            0.037638213485479355
        ],
        "speed": 4.038012229405556,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.324325561523438,
        "front_vehicle_info": {
            "id": 5125,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                1971.4927978515625,
                2065.29736328125,
                360.6110534667969
            ],
            "velocity": [
                3.0736305713653564,
                -0.16862355172634125,
                -0.052768535912036896
            ],
            "speed_kmh": 11.083337317574902,
            "color": "0,39,105"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9385986328125,
                        "y": 2151.913330078125,
                        "z": 361.8279724121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0313106775283813,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.186775207519531,
                "transform": {
                    "location": {
                        "x": 1982.422119140625,
                        "y": 2031.1658935546875,
                        "z": 359.9290466308594
                    },
                    "rotation": {
                        "roll": -0.0018005190650001168,
                        "pitch": 0.7414921522140503,
                        "yaw": 90.1138916015625
                    }
                },
                "velocity": {
                    "x": -0.01424430962651968,
                    "y": 7.186099529266357,
                    "z": 0.09752239286899567
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.661961019039154,
                "transform": {
                    "location": {
                        "x": 1946.04248046875,
                        "y": 2065.5390625,
                        "z": 361.00543212890625
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.9237625598907471,
                        "yaw": -0.151519775390625
                    }
                },
                "velocity": {
                    "x": 0.6618987321853638,
                    "y": 0.0005303884390741587,
                    "z": -0.009068489074707031
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9678955078125,
                        "y": 2136.763916015625,
                        "z": 361.55670166015625
                    },
                    "rotation": {
                        "roll": 1.067375876573351e-07,
                        "pitch": -0.9886425137519836,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5225869417190552,
                "transform": {
                    "location": {
                        "x": 1985.091552734375,
                        "y": 2125.123046875,
                        "z": 361.3487854003906
                    },
                    "rotation": {
                        "roll": -0.0012512217508628964,
                        "pitch": -0.9627628922462463,
                        "yaw": -89.85515594482422
                    }
                },
                "velocity": {
                    "x": 0.0029654751997441053,
                    "y": -1.5223464965820312,
                    "z": -0.026901869103312492
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9641178846359253,
                "transform": {
                    "location": {
                        "x": 1959.2943115234375,
                        "y": 2065.515625,
                        "z": 360.8069152832031
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": -0.8929720520973206,
                        "yaw": -0.0542602501809597
                    }
                },
                "velocity": {
                    "x": 1.9638521671295166,
                    "y": -0.00819641724228859,
                    "z": -0.031246475875377655
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.675989866256714,
                "transform": {
                    "location": {
                        "x": 1985.117431640625,
                        "y": 2111.059326171875,
                        "z": 361.1510925292969
                    },
                    "rotation": {
                        "roll": 0.0009452483500353992,
                        "pitch": -0.8094183802604675,
                        "yaw": -89.92253875732422
                    }
                },
                "velocity": {
                    "x": 0.0069880313239991665,
                    "y": -3.6754870414733887,
                    "z": -0.060403745621442795
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.742398262023926,
                "transform": {
                    "location": {
                        "x": 1982.3333740234375,
                        "y": 2078.11572265625,
                        "z": 360.6100769042969
                    },
                    "rotation": {
                        "roll": -0.0013732730876654387,
                        "pitch": 0.8133388757705688,
                        "yaw": 90.11137390136719
                    }
                },
                "velocity": {
                    "x": -0.02153308503329754,
                    "y": 9.741284370422363,
                    "z": 0.14571963250637054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.078704833984375,
                "transform": {
                    "location": {
                        "x": 1971.4927978515625,
                        "y": 2065.29736328125,
                        "z": 360.6110534667969
                    },
                    "rotation": {
                        "roll": 0.05042998120188713,
                        "pitch": -1.0261197090148926,
                        "yaw": -2.833099842071533
                    }
                },
                "velocity": {
                    "x": 3.0736305713653564,
                    "y": -0.16862355172634125,
                    "z": -0.052768535912036896
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7962785959243774,
                "transform": {
                    "location": {
                        "x": 1985.1431884765625,
                        "y": 2096.858154296875,
                        "z": 360.8887939453125
                    },
                    "rotation": {
                        "roll": -0.0023803047370165586,
                        "pitch": -0.9156824350357056,
                        "yaw": -89.82762908935547
                    }
                },
                "velocity": {
                    "x": 0.0060517857782542706,
                    "y": -1.7960442304611206,
                    "z": -0.028380459174513817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6652284860610962,
                "transform": {
                    "location": {
                        "x": 1985.1680908203125,
                        "y": 2085.35400390625,
                        "z": 360.7093200683594
                    },
                    "rotation": {
                        "roll": -0.001556393806822598,
                        "pitch": -0.725243091583252,
                        "yaw": -89.84119415283203
                    }
                },
                "velocity": {
                    "x": 0.003280122997239232,
                    "y": -1.665032148361206,
                    "z": -0.025364035740494728
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0022333860397339,
        "expert_target_speed": 0,
        "target_point": [
            7.679604098763139,
            -7.766135351899005
        ],
        "target_point_next": [
            30.214786619379957,
            -53.51721974334985
        ]
    },
    "315": {
        "acceleration": [
            -0.8600091934204102,
            2.7567005157470703,
            0.051597971469163895
        ],
        "angular_velocity": [
            0.5007511973381042,
            2.0904664993286133,
            -42.08308410644531
        ],
        "forward_vector": [
            -0.6070205569267273,
            -0.7946059703826904,
            0.011288999579846859
        ],
        "right_vector": [
            0.7938004732131958,
            -0.6069533824920654,
            -0.03857927769422531
        ],
        "location": [
            1983.0096435546875,
            2065.2236328125,
            360.404296875
        ],
        "rotation": [
            2.2111194133758545,
            0.6468257308006287,
            -127.3771743774414
        ],
        "velocity": [
            -3.5802013874053955,
            -3.001133680343628,
            -0.010425128974020481
        ],
        "speed": 4.67168549258963,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.744461059570312,
        "front_vehicle_info": {
            "id": 5125,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                1972.2669677734375,
                2065.25439453125,
                360.59771728515625
            ],
            "velocity": [
                2.9037184715270996,
                -0.16223055124282837,
                -0.05195081979036331
            ],
            "speed_kmh": 10.471358931539006,
            "color": "0,39,105"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9407958984375,
                        "y": 2150.663818359375,
                        "z": 361.8043212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0313106775283813,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.9233293533325195,
                "transform": {
                    "location": {
                        "x": 1982.418212890625,
                        "y": 2032.9254150390625,
                        "z": 359.95269775390625
                    },
                    "rotation": {
                        "roll": -0.0006409450434148312,
                        "pitch": 0.7474685311317444,
                        "yaw": 90.11287689208984
                    }
                },
                "velocity": {
                    "x": -0.013772127218544483,
                    "y": 6.922696590423584,
                    "z": 0.0925883874297142
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7753279209136963,
                "transform": {
                    "location": {
                        "x": 1946.34716796875,
                        "y": 2065.5390625,
                        "z": 361.0015869140625
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.6740713119506836,
                        "yaw": -0.1932983547449112
                    }
                },
                "velocity": {
                    "x": 1.775179147720337,
                    "y": -0.003154505742713809,
                    "z": -0.022764600813388824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.969482421875,
                        "y": 2135.930908203125,
                        "z": 361.54217529296875
                    },
                    "rotation": {
                        "roll": 1.067375876573351e-07,
                        "pitch": -0.9886425137519836,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.059131383895874,
                "transform": {
                    "location": {
                        "x": 1985.0916748046875,
                        "y": 2124.670654296875,
                        "z": 361.3409729003906
                    },
                    "rotation": {
                        "roll": -0.0033875061199069023,
                        "pitch": -0.9641426205635071,
                        "yaw": -89.70915985107422
                    }
                },
                "velocity": {
                    "x": 0.0048622493632137775,
                    "y": -2.0588274002075195,
                    "z": -0.03504326194524765
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8118116855621338,
                "transform": {
                    "location": {
                        "x": 1959.8294677734375,
                        "y": 2065.51416015625,
                        "z": 360.7986145019531
                    },
                    "rotation": {
                        "roll": -0.001251220703125,
                        "pitch": -0.910211443901062,
                        "yaw": -0.1049804612994194
                    }
                },
                "velocity": {
                    "x": 1.8115582466125488,
                    "y": -0.007942266762256622,
                    "z": -0.0292435884475708
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.014680862426758,
                "transform": {
                    "location": {
                        "x": 1985.119384765625,
                        "y": 2109.964111328125,
                        "z": 361.1329650878906
                    },
                    "rotation": {
                        "roll": 0.001238650525920093,
                        "pitch": -0.7924180030822754,
                        "yaw": -89.9149169921875
                    }
                },
                "velocity": {
                    "x": 0.0073893410153687,
                    "y": -5.014013767242432,
                    "z": -0.08145122975111008
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.515815734863281,
                "transform": {
                    "location": {
                        "x": 1982.3277587890625,
                        "y": 2080.513916015625,
                        "z": 360.6455383300781
                    },
                    "rotation": {
                        "roll": 0.0005644892225973308,
                        "pitch": 0.8680691719055176,
                        "yaw": 90.14195251464844
                    }
                },
                "velocity": {
                    "x": -0.020963868126273155,
                    "y": 9.514726638793945,
                    "z": 0.14240430295467377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9087107181549072,
                "transform": {
                    "location": {
                        "x": 1972.2669677734375,
                        "y": 2065.25439453125,
                        "z": 360.59771728515625
                    },
                    "rotation": {
                        "roll": 0.052496861666440964,
                        "pitch": -1.0320415496826172,
                        "yaw": -2.984344959259033
                    }
                },
                "velocity": {
                    "x": 2.9037184715270996,
                    "y": -0.16223055124282837,
                    "z": -0.05195081979036331
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1812801361083984,
                "transform": {
                    "location": {
                        "x": 1985.145263671875,
                        "y": 2096.39013671875,
                        "z": 360.8815002441406
                    },
                    "rotation": {
                        "roll": -0.0017089992761611938,
                        "pitch": -0.8725224733352661,
                        "yaw": -89.72472381591797
                    }
                },
                "velocity": {
                    "x": 0.007037733681499958,
                    "y": -2.181001901626587,
                    "z": -0.03412725403904915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5469305515289307,
                "transform": {
                    "location": {
                        "x": 1985.1693115234375,
                        "y": 2084.8369140625,
                        "z": 360.700927734375
                    },
                    "rotation": {
                        "roll": -0.0001220954000018537,
                        "pitch": -0.5569472312927246,
                        "yaw": -89.84923553466797
                    }
                },
                "velocity": {
                    "x": 0.005036153830587864,
                    "y": -2.546644687652588,
                    "z": -0.03782402724027634
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.000609040260315,
        "expert_target_speed": 0,
        "target_point": [
            7.899779463507697,
            -6.031367595742833
        ],
        "target_point_next": [
            38.71408666632363,
            -46.66970720062405
        ]
    },
    "320": {
        "acceleration": [
            1.6055679321289062,
            4.325463771820068,
            0.04210628569126129
        ],
        "angular_velocity": [
            0.7145309448242188,
            -1.2686160802841187,
            -35.18466567993164
        ],
        "forward_vector": [
            -0.7291682958602905,
            -0.6843107342720032,
            0.0056968615390360355
        ],
        "right_vector": [
            0.6836115717887878,
            -0.7287553548812866,
            -0.039886001497507095
        ],
        "location": [
            1982.16748046875,
            2064.5908203125,
            360.41241455078125
        ],
        "rotation": [
            2.285943031311035,
            0.32640787959098816,
            -136.8177032470703
        ],
        "velocity": [
            -3.334721803665161,
            -1.9292842149734497,
            0.043058767914772034
        ],
        "speed": 3.852597447175807,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.285465240478516,
        "front_vehicle_info": {
            "id": 5125,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                1972.904296875,
                2065.209716796875,
                360.5863952636719
            ],
            "velocity": [
                1.5353790521621704,
                -0.13410012423992157,
                -0.02705756202340126
            ],
            "speed_kmh": 5.549261671869217,
            "color": "0,39,105"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.942626953125,
                        "y": 2149.830810546875,
                        "z": 361.78857421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0313106775283813,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.5417985916137695,
                "transform": {
                    "location": {
                        "x": 1982.414306640625,
                        "y": 2034.6080322265625,
                        "z": 359.9753112792969
                    },
                    "rotation": {
                        "roll": 0.00028393082902766764,
                        "pitch": 0.7513958811759949,
                        "yaw": 90.11292266845703
                    }
                },
                "velocity": {
                    "x": -0.012923667207360268,
                    "y": 6.541189193725586,
                    "z": 0.08833562582731247
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.153872013092041,
                "transform": {
                    "location": {
                        "x": 1946.8814697265625,
                        "y": 2065.5390625,
                        "z": 360.99444580078125
                    },
                    "rotation": {
                        "roll": -0.004577635787427425,
                        "pitch": -0.6953063607215881,
                        "yaw": -0.071746826171875
                    }
                },
                "velocity": {
                    "x": 2.153687000274658,
                    "y": -0.0013176505453884602,
                    "z": -0.028201894834637642
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9718017578125,
                        "y": 2134.681396484375,
                        "z": 361.5206298828125
                    },
                    "rotation": {
                        "roll": 1.067375876573351e-07,
                        "pitch": -0.9886425137519836,
                        "yaw": -89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.664215564727783,
                "transform": {
                    "location": {
                        "x": 1985.0927734375,
                        "y": 2124.076416015625,
                        "z": 361.330810546875
                    },
                    "rotation": {
                        "roll": -0.004638676065951586,
                        "pitch": -0.9649895429611206,
                        "yaw": -89.60427856445312
                    }
                },
                "velocity": {
                    "x": 0.00622746255248785,
                    "y": -2.6638174057006836,
                    "z": -0.045643992722034454
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5201412439346313,
                "transform": {
                    "location": {
                        "x": 1959.93212890625,
                        "y": 2065.513916015625,
                        "z": 360.7970886230469
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.9338370561599731,
                        "yaw": -0.1022033616900444
                    }
                },
                "velocity": {
                    "x": 0.5200794339179993,
                    "y": -0.0011696995934471488,
                    "z": -0.007933911867439747
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.357043266296387,
                "transform": {
                    "location": {
                        "x": 1985.1212158203125,
                        "y": 2108.641845703125,
                        "z": 361.1123352050781
                    },
                    "rotation": {
                        "roll": -0.0014953709905967116,
                        "pitch": -0.8725224733352661,
                        "yaw": -89.90853881835938
                    }
                },
                "velocity": {
                    "x": 0.009995955042541027,
                    "y": -5.356301307678223,
                    "z": -0.08860226720571518
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.605627059936523,
                "transform": {
                    "location": {
                        "x": 1982.3221435546875,
                        "y": 2082.90234375,
                        "z": 360.6814270019531
                    },
                    "rotation": {
                        "roll": 0.0009719674708321691,
                        "pitch": 0.8475034832954407,
                        "yaw": 90.10618591308594
                    }
                },
                "velocity": {
                    "x": -0.0204814113676548,
                    "y": 9.604537010192871,
                    "z": 0.14326734840869904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5414615869522095,
                "transform": {
                    "location": {
                        "x": 1972.904296875,
                        "y": 2065.209716796875,
                        "z": 360.5863952636719
                    },
                    "rotation": {
                        "roll": 0.08973853290081024,
                        "pitch": -1.19113028049469,
                        "yaw": -3.4549872875213623
                    }
                },
                "velocity": {
                    "x": 1.5353790521621704,
                    "y": -0.13410012423992157,
                    "z": -0.02705756202340126
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4443330764770508,
                "transform": {
                    "location": {
                        "x": 1985.1474609375,
                        "y": 2095.8564453125,
                        "z": 360.87310791015625
                    },
                    "rotation": {
                        "roll": -0.005950931925326586,
                        "pitch": -0.9531869888305664,
                        "yaw": -89.60263061523438
                    }
                },
                "velocity": {
                    "x": 0.007071985397487879,
                    "y": -1.4441394805908203,
                    "z": -0.02256035804748535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2699482440948486,
                "transform": {
                    "location": {
                        "x": 1985.17138671875,
                        "y": 2084.065185546875,
                        "z": 360.6891174316406
                    },
                    "rotation": {
                        "roll": 1.849025829869788e-05,
                        "pitch": -0.5066497325897217,
                        "yaw": -89.86577606201172
                    }
                },
                "velocity": {
                    "x": 0.006139256991446018,
                    "y": -3.2695772647857666,
                    "z": -0.048867709934711456
                },
                "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": -0.9998266696929932,
        "expert_target_speed": 10.0,
        "target_point": [
            7.734939197857076,
            -4.53905402747248
        ],
        "target_point_next": [
            44.797560293174875,
            -39.57272771117394
        ]
    },
    "325": {
        "acceleration": [
            -0.5734825134277344,
            1.3834786415100098,
            0.01912228763103485
        ],
        "angular_velocity": [
            -0.8884922862052917,
            0.20488354563713074,
            -30.159883499145508
        ],
        "forward_vector": [
            -0.818699836730957,
            -0.5742077827453613,
            0.004003514070063829
        ],
        "right_vector": [
            0.5737001299858093,
            -0.8182334303855896,
            -0.03690981864929199
        ],
        "location": [
            1981.3980712890625,
            2064.194580078125,
            360.4242858886719
        ],
        "rotation": [
            2.11527419090271,
            0.22938506305217743,
            -144.95550537109375
        ],
        "velocity": [
            -3.1333072185516357,
            -1.2438914775848389,
            0.04693186655640602
        ],
        "speed": 3.371183788201999,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.517829895019531,
        "front_vehicle_info": {
            "id": 5125,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                1972.942138671875,
                2065.206787109375,
                360.5857238769531
            ],
            "velocity": [
                -0.004921031650155783,
                0.0012294875923544168,
                -0.0006199220078997314
            ],
            "speed_kmh": 0.01839613932773859,
            "color": "0,39,105"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9449462890625,
                        "y": 2148.581298828125,
                        "z": 361.76568603515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0170561075210571,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.246347427368164,
                "transform": {
                    "location": {
                        "x": 1982.4105224609375,
                        "y": 2036.2039794921875,
                        "z": 359.9969482421875
                    },
                    "rotation": {
                        "roll": 0.0017333385767415166,
                        "pitch": 0.7575430870056152,
                        "yaw": 90.11046600341797
                    }
                },
                "velocity": {
                    "x": -0.012187858112156391,
                    "y": 6.24576997756958,
                    "z": 0.08402801305055618
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.871883749961853,
                "transform": {
                    "location": {
                        "x": 1947.344970703125,
                        "y": 2065.539306640625,
                        "z": 360.9878845214844
                    },
                    "rotation": {
                        "roll": -0.005340576171875,
                        "pitch": -0.7994735836982727,
                        "yaw": 0.0691794902086258
                    }
                },
                "velocity": {
                    "x": 1.871698260307312,
                    "y": -0.00022863081539981067,
                    "z": -0.026354780420660973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.11662225425243378,
                "transform": {
                    "location": {
                        "x": 1984.9735107421875,
                        "y": 2133.848388671875,
                        "z": 361.51470947265625
                    },
                    "rotation": {
                        "roll": 0.0006234010797925293,
                        "pitch": -0.9897763133049011,
                        "yaw": -89.88938903808594
                    }
                },
                "velocity": {
                    "x": -1.2858438822149765e-05,
                    "y": -0.0020695740822702646,
                    "z": 0.11660388857126236
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.22765851020813,
                "transform": {
                    "location": {
                        "x": 1985.0948486328125,
                        "y": 2123.33935546875,
                        "z": 361.3181457519531
                    },
                    "rotation": {
                        "roll": -0.004577623214572668,
                        "pitch": -0.9652969241142273,
                        "yaw": -89.6263427734375
                    }
                },
                "velocity": {
                    "x": 0.00740003352984786,
                    "y": -3.227177381515503,
                    "z": -0.055236008018255234
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3239063024520874,
                "transform": {
                    "location": {
                        "x": 1960.16259765625,
                        "y": 2065.5126953125,
                        "z": 360.79315185546875
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": -0.8986479640007019,
                        "yaw": -0.0781555250287056
                    }
                },
                "velocity": {
                    "x": 1.3237342834472656,
                    "y": -0.005097170826047659,
                    "z": -0.020722050219774246
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2623472213745117,
                "transform": {
                    "location": {
                        "x": 1985.123046875,
                        "y": 2107.592529296875,
                        "z": 361.0974426269531
                    },
                    "rotation": {
                        "roll": -0.0005797273479402065,
                        "pitch": -1.174403190612793,
                        "yaw": -89.8961181640625
                    }
                },
                "velocity": {
                    "x": 0.004901765845716,
                    "y": -2.2620396614074707,
                    "z": -0.03697778657078743
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.609198570251465,
                "transform": {
                    "location": {
                        "x": 1982.317138671875,
                        "y": 2085.306884765625,
                        "z": 360.71734619140625
                    },
                    "rotation": {
                        "roll": -0.0004273073864169419,
                        "pitch": 0.8503038883209229,
                        "yaw": 90.13047790527344
                    }
                },
                "velocity": {
                    "x": -0.019044890999794006,
                    "y": 9.608112335205078,
                    "z": 0.14319418370723724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005110038910061121,
                "transform": {
                    "location": {
                        "x": 1972.942138671875,
                        "y": 2065.206787109375,
                        "z": 360.5857238769531
                    },
                    "rotation": {
                        "roll": 0.047574762254953384,
                        "pitch": -1.2878389358520508,
                        "yaw": -3.499390125274658
                    }
                },
                "velocity": {
                    "x": -0.004921031650155783,
                    "y": 0.0012294875923544168,
                    "z": -0.0006199220078997314
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.789517343044281,
                "transform": {
                    "location": {
                        "x": 1985.1474609375,
                        "y": 2095.757568359375,
                        "z": 360.8715515136719
                    },
                    "rotation": {
                        "roll": -0.004058775957673788,
                        "pitch": -0.9658501744270325,
                        "yaw": -89.59258270263672
                    }
                },
                "velocity": {
                    "x": 0.0020981610286980867,
                    "y": -0.7894318699836731,
                    "z": -0.011424283497035503
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.397176504135132,
                "transform": {
                    "location": {
                        "x": 1985.17333984375,
                        "y": 2083.36328125,
                        "z": 360.6804504394531
                    },
                    "rotation": {
                        "roll": 5.710408731829375e-05,
                        "pitch": -0.957694947719574,
                        "yaw": -89.8761215209961
                    }
                },
                "velocity": {
                    "x": 0.004437710624188185,
                    "y": -2.396902322769165,
                    "z": -0.0359850749373436
                },
                "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": -0.9996482729911804,
        "expert_target_speed": 10.0,
        "target_point": [
            7.442128010549129,
            -3.281035430428333
        ],
        "target_point_next": [
            49.090709313435454,
            -32.71557041381203
        ]
    },
    "330": {
        "acceleration": [
            -2.664971351623535,
            0.40114402770996094,
            -0.012195408344268799
        ],
        "angular_velocity": [
            -0.3762397766113281,
            1.3809269666671753,
            -28.02396583557129
        ],
        "forward_vector": [
            -0.8827295303344727,
            -0.4697938561439514,
            0.009078854694962502
        ],
        "right_vector": [
            0.46925076842308044,
            -0.8823807239532471,
            -0.03475623577833176
        ],
        "location": [
            1980.5726318359375,
            2063.8740234375,
            360.43572998046875
        ],
        "rotation": [
            1.9918689727783203,
            0.5201871991157532,
            -151.9778289794922
        ],
        "velocity": [
            -3.6488802433013916,
            -1.1334494352340698,
            0.051104478538036346
        ],
        "speed": 3.820868311285755,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.745859146118164,
        "front_vehicle_info": {
            "id": 5125,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                1972.9437255859375,
                2065.20654296875,
                360.5857849121094
            ],
            "velocity": [
                -0.0012279716320335865,
                0.0004424242943059653,
                -0.0004176019283477217
            ],
            "speed_kmh": 0.0049335040921814404,
            "color": "0,39,105"
        },
        "other_vehicles": [
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9464111328125,
                        "y": 2147.748291015625,
                        "z": 361.7507629394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0170561075210571,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.887088298797607,
                "transform": {
                    "location": {
                        "x": 1982.408203125,
                        "y": 2037.7171630859375,
                        "z": 360.0174560546875
                    },
                    "rotation": {
                        "roll": -0.0010070616845041513,
                        "pitch": 0.7622354030609131,
                        "yaw": 90.10707092285156
                    }
                },
                "velocity": {
                    "x": -0.010985434986650944,
                    "y": 5.886534214019775,
                    "z": 0.080022431910038
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8162012100219727,
                "transform": {
                    "location": {
                        "x": 1947.921630859375,
                        "y": 2065.539306640625,
                        "z": 360.97998046875
                    },
                    "rotation": {
                        "roll": -0.003082275390625,
                        "pitch": -0.6888381838798523,
                        "yaw": 0.08874992281198502
                    }
                },
                "velocity": {
                    "x": 2.8159196376800537,
                    "y": -0.0028321468271315098,
                    "z": -0.0397152304649353
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.974365234375,
                        "y": 2133.431884765625,
                        "z": 361.5230712890625
                    },
                    "rotation": {
                        "roll": -1.0673742423250587e-07,
                        "pitch": -0.9835813641548157,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9506828784942627,
                "transform": {
                    "location": {
                        "x": 1985.0977783203125,
                        "y": 2122.4443359375,
                        "z": 361.30279541015625
                    },
                    "rotation": {
                        "roll": -0.002807657001540065,
                        "pitch": -0.9621550440788269,
                        "yaw": -89.72374725341797
                    }
                },
                "velocity": {
                    "x": 0.008185895159840584,
                    "y": -3.9500892162323,
                    "z": -0.06799933314323425
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.066650390625,
                "transform": {
                    "location": {
                        "x": 1960.5989990234375,
                        "y": 2065.510498046875,
                        "z": 360.7861633300781
                    },
                    "rotation": {
                        "roll": -0.002838134765625,
                        "pitch": -0.8938599824905396,
                        "yaw": -0.074310302734375
                    }
                },
                "velocity": {
                    "x": 2.0663723945617676,
                    "y": -0.008912717923521996,
                    "z": -0.03269369900226593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8182268738746643,
                "transform": {
                    "location": {
                        "x": 1985.1236572265625,
                        "y": 2107.425048828125,
                        "z": 361.094482421875
                    },
                    "rotation": {
                        "roll": -0.0003051774692721665,
                        "pitch": -1.1375064849853516,
                        "yaw": -89.92235565185547
                    }
                },
                "velocity": {
                    "x": 0.0017844742396846414,
                    "y": -0.8181084990501404,
                    "z": -0.013803195208311081
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.587136268615723,
                "transform": {
                    "location": {
                        "x": 1982.3131103515625,
                        "y": 2087.704833984375,
                        "z": 360.7533874511719
                    },
                    "rotation": {
                        "roll": -0.0013122931122779846,
                        "pitch": 0.8657059669494629,
                        "yaw": 90.09963989257812
                    }
                },
                "velocity": {
                    "x": -0.019339418038725853,
                    "y": 9.586002349853516,
                    "z": 0.14617294073104858
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013704178854823112,
                "transform": {
                    "location": {
                        "x": 1972.9437255859375,
                        "y": 2065.20654296875,
                        "z": 360.5857849121094
                    },
                    "rotation": {
                        "roll": 0.05508984252810478,
                        "pitch": -1.0699695348739624,
                        "yaw": -3.4993598461151123
                    }
                },
                "velocity": {
                    "x": -0.0012279716320335865,
                    "y": 0.0004424242943059653,
                    "z": -0.0004176019283477217
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.739743709564209,
                "transform": {
                    "location": {
                        "x": 1985.148681640625,
                        "y": 2095.433349609375,
                        "z": 360.8667907714844
                    },
                    "rotation": {
                        "roll": -0.0005798470810987055,
                        "pitch": -0.7875617742538452,
                        "yaw": -89.69051361083984
                    }
                },
                "velocity": {
                    "x": 0.005298740230500698,
                    "y": -1.7395291328430176,
                    "z": -0.026805557310581207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.56658935546875,
                "transform": {
                    "location": {
                        "x": 1985.17529296875,
                        "y": 2082.772216796875,
                        "z": 360.67144775390625
                    },
                    "rotation": {
                        "roll": 0.0008615159313194454,
                        "pitch": -0.9227243661880493,
                        "yaw": -89.88410949707031
                    }
                },
                "velocity": {
                    "x": 0.0040899463929235935,
                    "y": -2.5663018226623535,
                    "z": -0.03820487856864929
                },
                "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": -0.9197502136230469,
        "expert_target_speed": 10.0,
        "target_point": [
            51.84285802984313,
            -26.363708894908886
        ],
        "target_point_next": [
            54.486108310710286,
            -27.78263220054875
        ]
    },
    "335": {
        "acceleration": [
            -0.4932546615600586,
            2.1613478660583496,
            0.6129195690155029
        ],
        "angular_velocity": [
            -2.530748128890991,
            0.5108417868614197,
            -27.557565689086914
        ],
        "forward_vector": [
            -0.9328857660293579,
            -0.35992249846458435,
            0.013413145206868649
        ],
        "right_vector": [
            0.35930556058883667,
            -0.9325772523880005,
            -0.034628622233867645
        ],
        "location": [
            1979.6143798828125,
            2063.602783203125,
            360.4492492675781
        ],
        "rotation": [
            1.9846490621566772,
            0.7685396671295166,
            -158.90257263183594
        ],
        "velocity": [
            -3.9696154594421387,
            -0.7805121541023254,
            0.0862346813082695
        ],
        "speed": 4.045620609812971,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.861855506896973,
        "front_vehicle_info": {
            "id": 5125,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                1972.9439697265625,
                2065.20654296875,
                360.5857849121094
            ],
            "velocity": [
                -0.0001944883115356788,
                0.00046641193330287933,
                0.0003194474265910685
            ],
            "speed_kmh": 0.0021522233605187273,
            "color": "0,39,105"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 1933.231201171875,
                        "y": 2065.501708984375,
                        "z": 361.4574890136719
                    },
                    "rotation": {
                        "roll": 2.0845801473878822e-10,
                        "pitch": -0.7359254956245422,
                        "yaw": -0.205841064453125
                    }
                },
                "velocity": {
                    "x": -3.8619183406751745e-09,
                    "y": 1.3874404229674564e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9486083984375,
                        "y": 2146.498779296875,
                        "z": 361.7283935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0170561075210571,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.6780171394348145,
                "transform": {
                    "location": {
                        "x": 1982.40625,
                        "y": 2039.162109375,
                        "z": 360.03717041015625
                    },
                    "rotation": {
                        "roll": 0.0005479311803355813,
                        "pitch": 0.7639156579971313,
                        "yaw": 90.1068115234375
                    }
                },
                "velocity": {
                    "x": -0.010769840329885483,
                    "y": 5.6774797439575195,
                    "z": 0.07738982886075974
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.264876365661621,
                "transform": {
                    "location": {
                        "x": 1948.8065185546875,
                        "y": 2065.5380859375,
                        "z": 360.9676818847656
                    },
                    "rotation": {
                        "roll": -0.0020141599234193563,
                        "pitch": -0.616212785243988,
                        "yaw": -0.0016174314077943563
                    }
                },
                "velocity": {
                    "x": 4.264458656311035,
                    "y": -0.0067945257760584354,
                    "z": -0.0592850036919117
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.015287230722606182,
                "transform": {
                    "location": {
                        "x": 1984.974365234375,
                        "y": 2133.431884765625,
                        "z": 361.5310974121094
                    },
                    "rotation": {
                        "roll": 0.0002204668417107314,
                        "pitch": -0.993922233581543,
                        "yaw": -89.88945770263672
                    }
                },
                "velocity": {
                    "x": -8.388709102291614e-05,
                    "y": -0.00035217509139329195,
                    "z": 0.015282943844795227
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.90171480178833,
                "transform": {
                    "location": {
                        "x": 1985.1004638671875,
                        "y": 2121.3369140625,
                        "z": 361.2837829589844
                    },
                    "rotation": {
                        "roll": -0.001251216628588736,
                        "pitch": -0.9486927390098572,
                        "yaw": -89.80961608886719
                    }
                },
                "velocity": {
                    "x": 0.009067061357200146,
                    "y": -4.900984764099121,
                    "z": -0.08411507308483124
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8610990047454834,
                "transform": {
                    "location": {
                        "x": 1961.0755615234375,
                        "y": 2065.509033203125,
                        "z": 360.77874755859375
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": -0.9145486354827881,
                        "yaw": -0.11761474609375
                    }
                },
                "velocity": {
                    "x": 1.860832929611206,
                    "y": -0.008406550623476505,
                    "z": -0.030324582010507584
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.016256332397461,
                "transform": {
                    "location": {
                        "x": 1985.12353515625,
                        "y": 2107.0498046875,
                        "z": 361.0862121582031
                    },
                    "rotation": {
                        "roll": -2.6683599330112884e-08,
                        "pitch": -0.8836351633071899,
                        "yaw": -89.89897918701172
                    }
                },
                "velocity": {
                    "x": 0.0032253286335617304,
                    "y": -2.0159807205200195,
                    "z": -0.03318137675523758
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.59782886505127,
                "transform": {
                    "location": {
                        "x": 1982.308837890625,
                        "y": 2090.1025390625,
                        "z": 360.7899475097656
                    },
                    "rotation": {
                        "roll": -0.0011596379335969687,
                        "pitch": 0.8689024448394775,
                        "yaw": 90.12960815429688
                    }
                },
                "velocity": {
                    "x": -0.018997251987457275,
                    "y": 9.596689224243164,
                    "z": 0.1466960608959198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005978398257866502,
                "transform": {
                    "location": {
                        "x": 1972.9439697265625,
                        "y": 2065.20654296875,
                        "z": 360.5857849121094
                    },
                    "rotation": {
                        "roll": 0.057118333876132965,
                        "pitch": -1.0288654565811157,
                        "yaw": -3.4993598461151123
                    }
                },
                "velocity": {
                    "x": -0.0001944883115356788,
                    "y": 0.00046641193330287933,
                    "z": 0.0003194474265910685
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.865326404571533,
                "transform": {
                    "location": {
                        "x": 1985.150634765625,
                        "y": 2094.870849609375,
                        "z": 360.858154296875
                    },
                    "rotation": {
                        "roll": 0.000376704556401819,
                        "pitch": -0.7264998555183411,
                        "yaw": -89.74214935302734
                    }
                },
                "velocity": {
                    "x": 0.0077545917592942715,
                    "y": -2.8649697303771973,
                    "z": -0.044542551040649414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.961256742477417,
                "transform": {
                    "location": {
                        "x": 1985.1771240234375,
                        "y": 2082.05712890625,
                        "z": 360.6601867675781
                    },
                    "rotation": {
                        "roll": 0.0003145897062495351,
                        "pitch": -0.7574132680892944,
                        "yaw": -89.89263153076172
                    }
                },
                "velocity": {
                    "x": 0.004764341749250889,
                    "y": -2.9609196186065674,
                    "z": -0.04441531002521515
                },
                "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": -0.563526451587677,
        "expert_target_speed": 10.0,
        "target_point": [
            53.65159480983765,
            -19.829035223338412
        ],
        "target_point_next": [
            56.446637401072486,
            -20.91892159712953
        ]
    },
    "340": {
        "acceleration": [
            -0.9564495086669922,
            0.4601752758026123,
            -0.3663867712020874
        ],
        "angular_velocity": [
            -1.3678075075149536,
            0.681274950504303,
            -20.385120391845703
        ],
        "forward_vector": [
            -0.9640902876853943,
            -0.2646450102329254,
            0.02220388501882553
        ],
        "right_vector": [
            0.26420408487319946,
            -0.9642397165298462,
            -0.020926583558321
        ],
        "location": [
            1978.60498046875,
            2063.405517578125,
            360.4744873046875
        ],
        "rotation": [
            1.1993881464004517,
            1.2722934484481812,
            -164.6502685546875
        ],
        "velocity": [
            -4.1634368896484375,
            -0.596348226070404,
            0.08613332360982895
        ],
        "speed": 4.205928903443659,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 86.60298156738281,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.22116953134536743,
                "transform": {
                    "location": {
                        "x": 1933.2293701171875,
                        "y": 2065.501708984375,
                        "z": 361.1153564453125
                    },
                    "rotation": {
                        "roll": -0.0012817385140806437,
                        "pitch": -0.74908047914505,
                        "yaw": -0.2058410793542862
                    }
                },
                "velocity": {
                    "x": -0.002741169184446335,
                    "y": 9.245173714589328e-05,
                    "z": -0.22115252912044525
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.950439453125,
                        "y": 2145.665771484375,
                        "z": 361.71343994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0170561075210571,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.2965874671936035,
                "transform": {
                    "location": {
                        "x": 1982.404296875,
                        "y": 2040.5316162109375,
                        "z": 360.0558166503906
                    },
                    "rotation": {
                        "roll": -0.00018315063789486885,
                        "pitch": 0.7621397972106934,
                        "yaw": 90.10942840576172
                    }
                },
                "velocity": {
                    "x": -0.01036328449845314,
                    "y": 5.296090602874756,
                    "z": 0.07179319113492966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.084178924560547,
                "transform": {
                    "location": {
                        "x": 1949.996337890625,
                        "y": 2065.5361328125,
                        "z": 360.9509582519531
                    },
                    "rotation": {
                        "roll": -0.0037536618765443563,
                        "pitch": -0.7825620770454407,
                        "yaw": 0.06397203356027603
                    }
                },
                "velocity": {
                    "x": 4.083694934844971,
                    "y": -0.008502114564180374,
                    "z": -0.062308862805366516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.012810145504772663,
                "transform": {
                    "location": {
                        "x": 1984.97509765625,
                        "y": 2133.015380859375,
                        "z": 361.52392578125
                    },
                    "rotation": {
                        "roll": 0.0002669509267434478,
                        "pitch": -0.9911491870880127,
                        "yaw": -89.8894271850586
                    }
                },
                "velocity": {
                    "x": 2.57441533904057e-05,
                    "y": -0.00031691460753791034,
                    "z": 0.012806199491024017
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.355823040008545,
                "transform": {
                    "location": {
                        "x": 1985.1029052734375,
                        "y": 2120.03466796875,
                        "z": 361.2619934082031
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.9541022181510925,
                        "yaw": -89.86540985107422
                    }
                },
                "velocity": {
                    "x": 0.00897003524005413,
                    "y": -5.355055809020996,
                    "z": -0.090203657746315
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9243614673614502,
                "transform": {
                    "location": {
                        "x": 1961.5831298828125,
                        "y": 2065.507568359375,
                        "z": 360.7706604003906
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.9096035361289978,
                        "yaw": -0.1540832221508026
                    }
                },
                "velocity": {
                    "x": 1.9240851402282715,
                    "y": -0.008903675712645054,
                    "z": -0.03136648237705231
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.14274056255817413,
                "transform": {
                    "location": {
                        "x": 1985.12353515625,
                        "y": 2106.61865234375,
                        "z": 361.0806884765625
                    },
                    "rotation": {
                        "roll": -0.004608175717294216,
                        "pitch": -1.058713436126709,
                        "yaw": -89.75701141357422
                    }
                },
                "velocity": {
                    "x": 0.00033393941703252494,
                    "y": -0.1426948457956314,
                    "z": -0.0035966967698186636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.596962928771973,
                "transform": {
                    "location": {
                        "x": 1982.3043212890625,
                        "y": 2092.501708984375,
                        "z": 360.8265075683594
                    },
                    "rotation": {
                        "roll": -0.000945983047131449,
                        "pitch": 0.8681579828262329,
                        "yaw": 90.09812927246094
                    }
                },
                "velocity": {
                    "x": -0.019032876938581467,
                    "y": 9.595820426940918,
                    "z": 0.14683586359024048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00043642023229040205,
                "transform": {
                    "location": {
                        "x": 1972.9443359375,
                        "y": 2065.20654296875,
                        "z": 360.5857849121094
                    },
                    "rotation": {
                        "roll": 0.058599065989255905,
                        "pitch": -1.0123568773269653,
                        "yaw": -3.499390125274658
                    }
                },
                "velocity": {
                    "x": -4.3778120016213506e-05,
                    "y": 4.655067095882259e-05,
                    "z": 0.0004317165003158152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.4735107421875,
                "transform": {
                    "location": {
                        "x": 1985.1524658203125,
                        "y": 2093.9375,
                        "z": 360.84368896484375
                    },
                    "rotation": {
                        "roll": 0.00010112521704286337,
                        "pitch": -0.6445580720901489,
                        "yaw": -89.80500030517578
                    }
                },
                "velocity": {
                    "x": 0.010651797987520695,
                    "y": -4.472959995269775,
                    "z": -0.06937050819396973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5085952281951904,
                "transform": {
                    "location": {
                        "x": 1985.1790771484375,
                        "y": 2081.378173828125,
                        "z": 360.6506042480469
                    },
                    "rotation": {
                        "roll": 0.00041242808219976723,
                        "pitch": -0.9393900036811829,
                        "yaw": -89.89666748046875
                    }
                },
                "velocity": {
                    "x": 0.0038184362929314375,
                    "y": -2.5083107948303223,
                    "z": -0.03757759928703308
                },
                "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": -0.3009111285209656,
        "expert_target_speed": 10.0,
        "target_point": [
            54.34209031534476,
            -14.27928300474287
        ],
        "target_point_next": [
            57.232230817557905,
            -15.08377245281505
        ]
    },
    "345": {
        "acceleration": [
            1.9632434844970703,
            -0.5483603477478027,
            -0.04817858338356018
        ],
        "angular_velocity": [
            -1.0394043922424316,
            -0.6976146697998047,
            -5.618374824523926
        ],
        "forward_vector": [
            -0.9769968390464783,
            -0.21196328103542328,
            0.023424748331308365
        ],
        "right_vector": [
            0.21167415380477905,
            -0.9772366881370544,
            -0.014229413121938705
        ],
        "location": [
            1977.5587158203125,
            2063.22412109375,
            360.4920959472656
        ],
        "rotation": [
            0.8155366778373718,
            1.3422619104385376,
            -167.7591552734375
        ],
        "velocity": [
            -4.083599090576172,
            -0.7313975095748901,
            0.06508737057447433
        ],
        "speed": 4.148580944077973,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 85.55571746826172,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.22745323181152344,
                "transform": {
                    "location": {
                        "x": 1933.232177734375,
                        "y": 2065.501708984375,
                        "z": 361.1349792480469
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.7341018319129944,
                        "yaw": -0.205841064453125
                    }
                },
                "velocity": {
                    "x": 0.1776936799287796,
                    "y": 0.0006429601926356554,
                    "z": 0.14198420941829681
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.953125,
                        "y": 2144.416259765625,
                        "z": 361.691162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0170561075210571,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.135138034820557,
                "transform": {
                    "location": {
                        "x": 1982.4024658203125,
                        "y": 2041.833984375,
                        "z": 360.07354736328125
                    },
                    "rotation": {
                        "roll": -0.0003662214148789644,
                        "pitch": 0.7643527388572693,
                        "yaw": 90.1092300415039
                    }
                },
                "velocity": {
                    "x": -0.00979110598564148,
                    "y": 5.13466215133667,
                    "z": 0.06921739131212234
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5598704218864441,
                "transform": {
                    "location": {
                        "x": 1950.294921875,
                        "y": 2065.535400390625,
                        "z": 360.94580078125
                    },
                    "rotation": {
                        "roll": -0.013519287109375,
                        "pitch": -1.2630863189697266,
                        "yaw": 0.17858204245567322
                    }
                },
                "velocity": {
                    "x": 0.5597863793373108,
                    "y": 0.00019090606656391174,
                    "z": -0.009698676876723766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.01529727317392826,
                "transform": {
                    "location": {
                        "x": 1984.9759521484375,
                        "y": 2132.598876953125,
                        "z": 361.5153503417969
                    },
                    "rotation": {
                        "roll": -0.0008849608129821718,
                        "pitch": -0.9865456223487854,
                        "yaw": -89.88943481445312
                    }
                },
                "velocity": {
                    "x": 0.00019350236107129604,
                    "y": -0.00033401668770238757,
                    "z": 0.015292401425540447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.059179782867432,
                "transform": {
                    "location": {
                        "x": 1985.10546875,
                        "y": 2118.6015625,
                        "z": 361.23748779296875
                    },
                    "rotation": {
                        "roll": -0.0006713704206049442,
                        "pitch": -0.9431397914886475,
                        "yaw": -89.92662048339844
                    }
                },
                "velocity": {
                    "x": 0.009892266243696213,
                    "y": -6.058310508728027,
                    "z": -0.10215885192155838
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.095003128051758,
                "transform": {
                    "location": {
                        "x": 1962.052490234375,
                        "y": 2065.505615234375,
                        "z": 360.76318359375
                    },
                    "rotation": {
                        "roll": 2.233965824416373e-05,
                        "pitch": -0.9114955067634583,
                        "yaw": -0.1811828464269638
                    }
                },
                "velocity": {
                    "x": 2.094716787338257,
                    "y": -0.009900405071675777,
                    "z": -0.033189259469509125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9675276279449463,
                "transform": {
                    "location": {
                        "x": 1985.1236572265625,
                        "y": 2106.4912109375,
                        "z": 361.07757568359375
                    },
                    "rotation": {
                        "roll": -0.002899220446124673,
                        "pitch": -0.9424362778663635,
                        "yaw": -89.76461791992188
                    }
                },
                "velocity": {
                    "x": 0.0021028812043368816,
                    "y": -0.9673803448677063,
                    "z": -0.016749342903494835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.594738960266113,
                "transform": {
                    "location": {
                        "x": 1982.2996826171875,
                        "y": 2094.900146484375,
                        "z": 360.8631896972656
                    },
                    "rotation": {
                        "roll": 0.0008476024377159774,
                        "pitch": 0.8746261596679688,
                        "yaw": 90.1317367553711
                    }
                },
                "velocity": {
                    "x": -0.019464416429400444,
                    "y": 9.593557357788086,
                    "z": 0.14927761256694794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.36899060534779e-05,
                "transform": {
                    "location": {
                        "x": 1972.9443359375,
                        "y": 2065.20654296875,
                        "z": 360.5857849121094
                    },
                    "rotation": {
                        "roll": 0.058599065989255905,
                        "pitch": -1.0123568773269653,
                        "yaw": -3.499390125274658
                    }
                },
                "velocity": {
                    "x": 8.588283890276216e-06,
                    "y": -3.3155247365357354e-05,
                    "z": 4.1347033402416855e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.193247318267822,
                "transform": {
                    "location": {
                        "x": 1985.1549072265625,
                        "y": 2092.720947265625,
                        "z": 360.8249816894531
                    },
                    "rotation": {
                        "roll": 0.0005500233382917941,
                        "pitch": -0.8440883755683899,
                        "yaw": -89.85065460205078
                    }
                },
                "velocity": {
                    "x": 0.00908816047012806,
                    "y": -4.192699909210205,
                    "z": -0.06714774668216705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0375285148620605,
                "transform": {
                    "location": {
                        "x": 1985.1802978515625,
                        "y": 2080.710693359375,
                        "z": 360.6401062011719
                    },
                    "rotation": {
                        "roll": -0.0008849690784700215,
                        "pitch": -0.7991594076156616,
                        "yaw": -89.90027618408203
                    }
                },
                "velocity": {
                    "x": 0.005257904529571533,
                    "y": -3.037189483642578,
                    "z": -0.04508407041430473
                },
                "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": -0.19796834886074066,
        "expert_target_speed": 10.0,
        "target_point": [
            53.97559323631698,
            -11.266540619667415
        ],
        "target_point_next": [
            56.905110627453105,
            -11.913103261352882
        ]
    },
    "350": {
        "acceleration": [
            3.1522369384765625,
            0.8924961090087891,
            0.05741924047470093
        ],
        "angular_velocity": [
            -0.9620112776756287,
            -2.1400580406188965,
            1.451613187789917
        ],
        "forward_vector": [
            -0.9768721461296082,
            -0.21304413676261902,
            0.01824861578643322
        ],
        "right_vector": [
            0.21293410658836365,
            -0.9770355224609375,
            -0.0077963476069271564
        ],
        "location": [
            1976.6434326171875,
            2063.02490234375,
            360.51019287109375
        ],
        "rotation": [
            0.44677677750587463,
            1.0456267595291138,
            -167.69711303710938
        ],
        "velocity": [
            -3.2845540046691895,
            -0.7429475784301758,
            0.0806540697813034
        ],
        "speed": 3.3675311600464326,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 84.63975524902344,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5278631448745728,
                "transform": {
                    "location": {
                        "x": 1933.491943359375,
                        "y": 2065.502685546875,
                        "z": 361.1548767089844
                    },
                    "rotation": {
                        "roll": -0.015106201171875,
                        "pitch": -0.3779006898403168,
                        "yaw": -0.055572509765625
                    }
                },
                "velocity": {
                    "x": 1.527358055114746,
                    "y": 0.00922440830618143,
                    "z": 0.03818488121032715
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9544677734375,
                        "y": 2143.583251953125,
                        "z": 361.6763916015625
                    },
                    "rotation": {
                        "roll": -5.336902475505667e-08,
                        "pitch": -1.0028698444366455,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.795316696166992,
                "transform": {
                    "location": {
                        "x": 1982.400634765625,
                        "y": 2043.074462890625,
                        "z": 360.09039306640625
                    },
                    "rotation": {
                        "roll": 0.00011254806304350495,
                        "pitch": 0.7649128437042236,
                        "yaw": 90.11415100097656
                    }
                },
                "velocity": {
                    "x": -0.009691116400063038,
                    "y": 4.794848442077637,
                    "z": 0.06630073487758636
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7887018918991089,
                "transform": {
                    "location": {
                        "x": 1950.6168212890625,
                        "y": 2065.53515625,
                        "z": 360.94158935546875
                    },
                    "rotation": {
                        "roll": -0.00408935546875,
                        "pitch": -0.7946446537971497,
                        "yaw": 0.1068652868270874
                    }
                },
                "velocity": {
                    "x": 1.7885057926177979,
                    "y": -0.0034105826634913683,
                    "z": -0.026264438405632973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.976806640625,
                        "y": 2132.1826171875,
                        "z": 361.5064392089844
                    },
                    "rotation": {
                        "roll": -1.0673742423250587e-07,
                        "pitch": -0.9835813641548157,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2618398666381836,
                "transform": {
                    "location": {
                        "x": 1985.1077880859375,
                        "y": 2117.32080078125,
                        "z": 361.2165222167969
                    },
                    "rotation": {
                        "roll": 0.0010460440535098314,
                        "pitch": -1.03738272190094,
                        "yaw": -89.96688842773438
                    }
                },
                "velocity": {
                    "x": 0.0037561894860118628,
                    "y": -3.261363983154297,
                    "z": -0.05558336153626442
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7658190727233887,
                "transform": {
                    "location": {
                        "x": 1962.5509033203125,
                        "y": 2065.50390625,
                        "z": 360.75531005859375
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.9179090857505798,
                        "yaw": -0.2052001953125
                    }
                },
                "velocity": {
                    "x": 1.7655707597732544,
                    "y": -0.008765560574829578,
                    "z": -0.028286142274737358
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8359699249267578,
                "transform": {
                    "location": {
                        "x": 1985.1241455078125,
                        "y": 2106.135009765625,
                        "z": 361.0710754394531
                    },
                    "rotation": {
                        "roll": -0.001190190901979804,
                        "pitch": -0.870118260383606,
                        "yaw": -89.76964569091797
                    }
                },
                "velocity": {
                    "x": 0.004612936172634363,
                    "y": -1.8357175588607788,
                    "z": -0.03008870594203472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5126,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.595486640930176,
                "transform": {
                    "location": {
                        "x": 1982.29443359375,
                        "y": 2097.298583984375,
                        "z": 360.90057373046875
                    },
                    "rotation": {
                        "roll": -6.105237844167277e-05,
                        "pitch": 0.9021654725074768,
                        "yaw": 90.10243225097656
                    }
                },
                "velocity": {
                    "x": -0.019710326567292213,
                    "y": 9.594277381896973,
                    "z": 0.15103742480278015
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1972.9443359375,
                        "y": 2065.20654296875,
                        "z": 360.5857849121094
                    },
                    "rotation": {
                        "roll": 0.058599065989255905,
                        "pitch": -1.0123568773269653,
                        "yaw": -3.499390125274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004233650688547641,
                "transform": {
                    "location": {
                        "x": 1985.1558837890625,
                        "y": 2092.223388671875,
                        "z": 360.81658935546875
                    },
                    "rotation": {
                        "roll": 5.4177588026504964e-05,
                        "pitch": -1.4066705703735352,
                        "yaw": -89.92129516601562
                    }
                },
                "velocity": {
                    "x": 0.00018916864064522088,
                    "y": -5.08725643157959e-05,
                    "z": -0.0003753201162908226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9379608631134033,
                "transform": {
                    "location": {
                        "x": 1985.1822509765625,
                        "y": 2079.91650390625,
                        "z": 360.6283874511719
                    },
                    "rotation": {
                        "roll": 0.000161246134666726,
                        "pitch": -0.8153674602508545,
                        "yaw": -89.90426635742188
                    }
                },
                "velocity": {
                    "x": 0.004920115694403648,
                    "y": -2.937626600265503,
                    "z": -0.04404961317777634
                },
                "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": -0.2958936095237732,
        "expert_target_speed": 10.0,
        "target_point": [
            53.02665345386245,
            -11.324574108883406
        ],
        "target_point_next": [
            55.95546927641425,
            -11.97430734041965
        ]
    },
    "355": {
        "acceleration": [
            0.11229515075683594,
            1.615719199180603,
            -0.11361107230186462
        ],
        "angular_velocity": [
            0.8654548525810242,
            0.5528401732444763,
            -8.444306373596191
        ],
        "forward_vector": [
            -0.9799758791923523,
            -0.19861198961734772,
            0.014165164902806282
        ],
        "right_vector": [
            0.19852885603904724,
            -0.9800695776939392,
            -0.007064640522003174
        ],
        "location": [
            1975.888671875,
            2062.882080078125,
            360.5294189453125
        ],
        "rotation": [
            0.404818058013916,
            0.8116313219070435,
            -168.54302978515625
        ],
        "velocity": [
            -2.9378886222839355,
            -0.3848229944705963,
            0.058469533920288086
        ],
        "speed": 2.9629846935174533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 83.88471221923828,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.539771556854248,
                "transform": {
                    "location": {
                        "x": 1933.9974365234375,
                        "y": 2065.505615234375,
                        "z": 361.15625
                    },
                    "rotation": {
                        "roll": -0.014343262650072575,
                        "pitch": -0.32373046875,
                        "yaw": 0.027440637350082397
                    }
                },
                "velocity": {
                    "x": 2.5396711826324463,
                    "y": 0.015618923120200634,
                    "z": -0.016308803111314774
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.95703125,
                        "y": 2142.333740234375,
                        "z": 361.65435791015625
                    },
                    "rotation": {
                        "roll": -5.336902475505667e-08,
                        "pitch": -1.0028698444366455,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.63710355758667,
                "transform": {
                    "location": {
                        "x": 1982.398193359375,
                        "y": 2044.251708984375,
                        "z": 360.1065979003906
                    },
                    "rotation": {
                        "roll": -0.00042727269465103745,
                        "pitch": 0.7749053835868835,
                        "yaw": 90.0755386352539
                    }
                },
                "velocity": {
                    "x": -0.010358508676290512,
                    "y": 4.636646747589111,
                    "z": 0.06427240371704102
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9452754259109497,
                "transform": {
                    "location": {
                        "x": 1951.141845703125,
                        "y": 2065.533935546875,
                        "z": 360.93389892578125
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.8108185529708862,
                        "yaw": -0.1057739183306694
                    }
                },
                "velocity": {
                    "x": 1.9450587034225464,
                    "y": -0.001781134749762714,
                    "z": -0.028983507305383682
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.011337202973663807,
                "transform": {
                    "location": {
                        "x": 1984.976806640625,
                        "y": 2132.182861328125,
                        "z": 361.5099182128906
                    },
                    "rotation": {
                        "roll": 0.0002267107047373429,
                        "pitch": -0.9895304441452026,
                        "yaw": -89.88945770263672
                    }
                },
                "velocity": {
                    "x": 0.00021347642177715898,
                    "y": -0.0002451431646477431,
                    "z": 0.011332542635500431
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.3305893838405609,
                "transform": {
                    "location": {
                        "x": 1985.1072998046875,
                        "y": 2117.05029296875,
                        "z": 361.21246337890625
                    },
                    "rotation": {
                        "roll": -0.00030517237610183656,
                        "pitch": -1.0880422592163086,
                        "yaw": -89.92594146728516
                    }
                },
                "velocity": {
                    "x": 0.0006014960235916078,
                    "y": -0.33055540919303894,
                    "z": -0.004701423458755016
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.17692235112190247,
                "transform": {
                    "location": {
                        "x": 1962.9478759765625,
                        "y": 2065.502197265625,
                        "z": 360.7491455078125
                    },
                    "rotation": {
                        "roll": -0.0001220706180902198,
                        "pitch": -0.9397861957550049,
                        "yaw": -0.2141112983226776
                    }
                },
                "velocity": {
                    "x": 0.17689910531044006,
                    "y": -0.0008895338978618383,
                    "z": -0.0027276133187115192
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9638822078704834,
                "transform": {
                    "location": {
                        "x": 1985.12646484375,
                        "y": 2105.537109375,
                        "z": 361.0610046386719
                    },
                    "rotation": {
                        "roll": -0.002807634649798274,
                        "pitch": -0.8288297653198242,
                        "yaw": -89.80081176757812
                    }
                },
                "velocity": {
                    "x": 0.006973571609705687,
                    "y": -2.963477611541748,
                    "z": -0.048475898802280426
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00031486694933846593,
                "transform": {
                    "location": {
                        "x": 1972.9443359375,
                        "y": 2065.20654296875,
                        "z": 360.5857849121094
                    },
                    "rotation": {
                        "roll": 0.058599065989255905,
                        "pitch": -1.0123568773269653,
                        "yaw": -3.499390125274658
                    }
                },
                "velocity": {
                    "x": 4.355147393653169e-05,
                    "y": -8.97035570233129e-05,
                    "z": 0.00029865989927202463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.69021475315094,
                "transform": {
                    "location": {
                        "x": 1985.1558837890625,
                        "y": 2091.962158203125,
                        "z": 360.8133544921875
                    },
                    "rotation": {
                        "roll": 0.00044113065814599395,
                        "pitch": -0.861450731754303,
                        "yaw": -89.9582290649414
                    }
                },
                "velocity": {
                    "x": 0.0017297714948654175,
                    "y": -1.6900296211242676,
                    "z": -0.024956416338682175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.525031089782715,
                "transform": {
                    "location": {
                        "x": 1985.1829833984375,
                        "y": 2079.250244140625,
                        "z": 360.6189880371094
                    },
                    "rotation": {
                        "roll": 0.00024976616259664297,
                        "pitch": -0.9914224147796631,
                        "yaw": -89.90996551513672
                    }
                },
                "velocity": {
                    "x": 0.004042823798954487,
                    "y": -2.5247514247894287,
                    "z": -0.03735857829451561
                },
                "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": -0.246255025267601,
        "expert_target_speed": 10.0,
        "target_point": [
            52.41997190300469,
            -10.530548706008076
        ],
        "target_point_next": [
            55.35806073713756,
            -11.136972153226289
        ]
    },
    "360": {
        "acceleration": [
            -2.9555130004882812,
            0.6348434686660767,
            0.04597268998622894
        ],
        "angular_velocity": [
            -0.41983723640441895,
            1.1691997051239014,
            -15.525934219360352
        ],
        "forward_vector": [
            -0.9903327822685242,
            -0.1375424712896347,
            0.017972812056541443
        ],
        "right_vector": [
            0.1373821496963501,
            -0.9904689192771912,
            -0.00987604446709156
        ],
        "location": [
            1975.119384765625,
            2062.830810546875,
            360.5426025390625
        ],
        "rotation": [
            0.5659562349319458,
            1.029821753501892,
            -172.09304809570312
        ],
        "velocity": [
            -3.3440544605255127,
            -0.05329972133040428,
            0.05919137969613075
        ],
        "speed": 3.344479196415262,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 83.11534881591797,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9563307762145996,
                "transform": {
                    "location": {
                        "x": 1934.8131103515625,
                        "y": 2065.510009765625,
                        "z": 361.14739990234375
                    },
                    "rotation": {
                        "roll": -0.017059326171875,
                        "pitch": -0.19272060692310333,
                        "yaw": 0.1706976443529129
                    }
                },
                "velocity": {
                    "x": 3.9559576511383057,
                    "y": 0.026303309947252274,
                    "z": -0.04755248501896858
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.95703125,
                        "y": 2142.333740234375,
                        "z": 361.65435791015625
                    },
                    "rotation": {
                        "roll": -5.336902475505667e-08,
                        "pitch": -1.0028698444366455,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.329203128814697,
                "transform": {
                    "location": {
                        "x": 1982.3948974609375,
                        "y": 2045.37060546875,
                        "z": 360.1220703125
                    },
                    "rotation": {
                        "roll": -0.001373263425193727,
                        "pitch": 0.7842559218406677,
                        "yaw": 89.90168762207031
                    }
                },
                "velocity": {
                    "x": -0.008916469290852547,
                    "y": 4.3287787437438965,
                    "z": 0.05996321514248848
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9322171807289124,
                "transform": {
                    "location": {
                        "x": 1951.2943115234375,
                        "y": 2065.533935546875,
                        "z": 360.9315185546875
                    },
                    "rotation": {
                        "roll": 0.000599498744122684,
                        "pitch": -0.9032583236694336,
                        "yaw": -0.169921875
                    }
                },
                "velocity": {
                    "x": 0.9321048259735107,
                    "y": -0.0025011932011693716,
                    "z": -0.014255275018513203
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.9776611328125,
                        "y": 2131.766357421875,
                        "z": 361.49908447265625
                    },
                    "rotation": {
                        "roll": -1.0673742423250587e-07,
                        "pitch": -0.9835813641548157,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0659762620925903,
                "transform": {
                    "location": {
                        "x": 1985.1077880859375,
                        "y": 2116.869140625,
                        "z": 361.20831298828125
                    },
                    "rotation": {
                        "roll": 0.0007707998738624156,
                        "pitch": -0.9640538096427917,
                        "yaw": -89.9763412475586
                    }
                },
                "velocity": {
                    "x": 0.0017815440660342574,
                    "y": -1.0658187866210938,
                    "z": -0.018233804032206535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005600401782430708,
                "transform": {
                    "location": {
                        "x": 1962.9481201171875,
                        "y": 2065.502197265625,
                        "z": 360.7490539550781
                    },
                    "rotation": {
                        "roll": -0.00012207020336063579,
                        "pitch": -0.9311186671257019,
                        "yaw": -0.21441645920276642
                    }
                },
                "velocity": {
                    "x": 8.596628504164983e-06,
                    "y": 1.0814575546191918e-07,
                    "z": 0.000559974170755595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.374706745147705,
                "transform": {
                    "location": {
                        "x": 1985.128662109375,
                        "y": 2104.60888671875,
                        "z": 361.045654296875
                    },
                    "rotation": {
                        "roll": -0.0010986176785081625,
                        "pitch": -0.7905875444412231,
                        "yaw": -89.82919311523438
                    }
                },
                "velocity": {
                    "x": 0.010052312165498734,
                    "y": -4.374145030975342,
                    "z": -0.06937354058027267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6105382605455816e-05,
                "transform": {
                    "location": {
                        "x": 1972.9443359375,
                        "y": 2065.20654296875,
                        "z": 360.5857849121094
                    },
                    "rotation": {
                        "roll": 0.058599065989255905,
                        "pitch": -1.0123568773269653,
                        "yaw": -3.499390125274658
                    }
                },
                "velocity": {
                    "x": -2.3528336896561086e-05,
                    "y": 1.4921110050636344e-05,
                    "z": 2.2964679374126717e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.09633731842041,
                "transform": {
                    "location": {
                        "x": 1985.1558837890625,
                        "y": 2091.45361328125,
                        "z": 360.8056640625
                    },
                    "rotation": {
                        "roll": 0.0005287258536554873,
                        "pitch": -0.8128675818443298,
                        "yaw": -89.94442749023438
                    }
                },
                "velocity": {
                    "x": 0.002995376707985997,
                    "y": -2.0960841178894043,
                    "z": -0.032438796013593674
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01728447712957859,
                "transform": {
                    "location": {
                        "x": 1985.1658935546875,
                        "y": 2078.814697265625,
                        "z": 360.61444091796875
                    },
                    "rotation": {
                        "roll": 0.019302302971482277,
                        "pitch": -1.515803337097168,
                        "yaw": -90.6436767578125
                    }
                },
                "velocity": {
                    "x": -0.00815648678690195,
                    "y": -0.015235920436680317,
                    "z": 0.0003025712794624269
                },
                "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": -0.09163545817136765,
        "expert_target_speed": 10.0,
        "target_point": [
            52.202410170579306,
            -7.2094471050292235
        ],
        "target_point_next": [
            55.17241093757572,
            -7.6327801165379245
        ]
    },
    "365": {
        "acceleration": [
            -3.852052688598633,
            1.3705873489379883,
            0.07297903299331665
        ],
        "angular_velocity": [
            0.05691931024193764,
            0.725921630859375,
            -19.45868492126465
        ],
        "forward_vector": [
            -0.9978625774383545,
            -0.06132446601986885,
            0.02257334254682064
        ],
        "right_vector": [
            0.06111699715256691,
            -0.9980828166007996,
            -0.009769500233232975
        ],
        "location": [
            1974.1612548828125,
            2062.834228515625,
            360.5583801269531
        ],
        "rotation": [
            0.5599027276039124,
            1.2934670448303223,
            -176.48326110839844
        ],
        "velocity": [
            -4.296242713928223,
            0.22547942399978638,
            0.07487878948450089
        ],
        "speed": 4.302155555954319,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 82.15708923339844,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.281854152679443,
                "transform": {
                    "location": {
                        "x": 1935.9755859375,
                        "y": 2065.517822265625,
                        "z": 361.13299560546875
                    },
                    "rotation": {
                        "roll": -0.01678466610610485,
                        "pitch": -0.1519785374403,
                        "yaw": 0.29721176624298096
                    }
                },
                "velocity": {
                    "x": 5.2813262939453125,
                    "y": 0.037977445870637894,
                    "z": -0.06428055465221405
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.957763671875,
                        "y": 2141.917236328125,
                        "z": 361.64703369140625
                    },
                    "rotation": {
                        "roll": -5.336902475505667e-08,
                        "pitch": -1.0028698444366455,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.198734760284424,
                "transform": {
                    "location": {
                        "x": 1982.39306640625,
                        "y": 2046.4366455078125,
                        "z": 360.1368713378906
                    },
                    "rotation": {
                        "roll": -0.0026855329051613808,
                        "pitch": 0.7893580794334412,
                        "yaw": 89.90589141845703
                    }
                },
                "velocity": {
                    "x": -0.00884313229471445,
                    "y": 4.198310852050781,
                    "z": 0.05902218818664551
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0328195095062256,
                "transform": {
                    "location": {
                        "x": 1951.6671142578125,
                        "y": 2065.532470703125,
                        "z": 360.92633056640625
                    },
                    "rotation": {
                        "roll": 0.0008393940515816212,
                        "pitch": -0.723235011100769,
                        "yaw": -0.2310485541820526
                    }
                },
                "velocity": {
                    "x": 2.032588243484497,
                    "y": -0.006763878744095564,
                    "z": -0.029906587675213814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.012897083535790443,
                "transform": {
                    "location": {
                        "x": 1984.9776611328125,
                        "y": 2131.7666015625,
                        "z": 361.5025329589844
                    },
                    "rotation": {
                        "roll": -0.0005493783974088728,
                        "pitch": -0.9889430403709412,
                        "yaw": -89.8894271850586
                    }
                },
                "velocity": {
                    "x": 0.00011734342115232721,
                    "y": -0.0002688622334972024,
                    "z": 0.012893746607005596
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6506026983261108,
                "transform": {
                    "location": {
                        "x": 1985.1077880859375,
                        "y": 2116.5244140625,
                        "z": 361.2022705078125
                    },
                    "rotation": {
                        "roll": 0.001660069334320724,
                        "pitch": -0.9470193386077881,
                        "yaw": -89.97891235351562
                    }
                },
                "velocity": {
                    "x": 0.0026833969168365,
                    "y": -1.6503736972808838,
                    "z": -0.02736464887857437
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010669633775250986,
                "transform": {
                    "location": {
                        "x": 1962.9481201171875,
                        "y": 2065.502197265625,
                        "z": 360.7489318847656
                    },
                    "rotation": {
                        "roll": 0.0005333933513611555,
                        "pitch": -0.9169323444366455,
                        "yaw": -0.2144775390625
                    }
                },
                "velocity": {
                    "x": 2.7995109121548012e-05,
                    "y": 7.066460966598243e-05,
                    "z": 7.487920811399817e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.933216571807861,
                "transform": {
                    "location": {
                        "x": 1985.1302490234375,
                        "y": 2103.37060546875,
                        "z": 361.02655029296875
                    },
                    "rotation": {
                        "roll": -0.002624530578032136,
                        "pitch": -0.8229352831840515,
                        "yaw": -89.7702865600586
                    }
                },
                "velocity": {
                    "x": 0.015560109168291092,
                    "y": -4.932557106018066,
                    "z": -0.07913396507501602
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00022211209579836577,
                "transform": {
                    "location": {
                        "x": 1972.9443359375,
                        "y": 2065.20654296875,
                        "z": 360.5857849121094
                    },
                    "rotation": {
                        "roll": 0.058599065989255905,
                        "pitch": -1.0123568773269653,
                        "yaw": -3.499390125274658
                    }
                },
                "velocity": {
                    "x": 5.7141332945320755e-05,
                    "y": -1.187080761155812e-05,
                    "z": 0.00021430756896734238
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6268381476402283,
                "transform": {
                    "location": {
                        "x": 1985.1558837890625,
                        "y": 2091.303955078125,
                        "z": 360.8031311035156
                    },
                    "rotation": {
                        "roll": 0.00030329564469866455,
                        "pitch": -0.997187077999115,
                        "yaw": -89.93331909179688
                    }
                },
                "velocity": {
                    "x": 2.8020693207508884e-05,
                    "y": -0.626766562461853,
                    "z": -0.009474696591496468
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00576196052134037,
                "transform": {
                    "location": {
                        "x": 1985.1658935546875,
                        "y": 2078.81396484375,
                        "z": 360.61370849609375
                    },
                    "rotation": {
                        "roll": -0.0056761810556054115,
                        "pitch": -1.3268120288848877,
                        "yaw": -90.64350891113281
                    }
                },
                "velocity": {
                    "x": 0.0005742855719290674,
                    "y": 0.005565696861594915,
                    "z": 0.0013760090805590153
                },
                "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": 0.10247496515512466,
        "expert_target_speed": 10.0,
        "target_point": [
            51.64499724684708,
            -3.1300950482851473
        ],
        "target_point_next": [
            54.638689116642205,
            -3.3248368858930033
        ]
    },
    "370": {
        "acceleration": [
            -3.493833541870117,
            -0.048018693923950195,
            0.021462589502334595
        ],
        "angular_velocity": [
            -1.2229067087173462,
            0.07907305657863617,
            -11.038737297058105
        ],
        "forward_vector": [
            -0.9996472597122192,
            0.01088770106434822,
            0.024222983047366142
        ],
        "right_vector": [
            -0.01103653758764267,
            -0.9999209642410278,
            -0.006019279360771179
        ],
        "location": [
            1972.96337890625,
            2062.898681640625,
            360.5792236328125
        ],
        "rotation": [
            0.3449826240539551,
            1.3880105018615723,
            179.37599182128906
        ],
        "velocity": [
            -5.229001998901367,
            0.36386141180992126,
            0.09385362267494202
        ],
        "speed": 5.241646404663214,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.95901489257812,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.386139392852783,
                "transform": {
                    "location": {
                        "x": 1937.326171875,
                        "y": 2065.527099609375,
                        "z": 361.1169128417969
                    },
                    "rotation": {
                        "roll": -0.014709473587572575,
                        "pitch": -0.44652360677719116,
                        "yaw": 0.3548148274421692
                    }
                },
                "velocity": {
                    "x": 5.385544776916504,
                    "y": 0.04064864665269852,
                    "z": -0.06892655044794083
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5133,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1984.957763671875,
                        "y": 2141.917236328125,
                        "z": 361.64703369140625
                    },
                    "rotation": {
                        "roll": -5.336902475505667e-08,
                        "pitch": -1.0028698444366455,
                        "yaw": -89.88936614990234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.888967990875244,
                "transform": {
                    "location": {
                        "x": 1982.391357421875,
                        "y": 2047.4449462890625,
                        "z": 360.1510009765625
                    },
                    "rotation": {
                        "roll": -0.0014648138312622905,
                        "pitch": 0.7877051830291748,
                        "yaw": 89.93219757080078
                    }
                },
                "velocity": {
                    "x": -0.007806412409991026,
                    "y": 3.888577461242676,
                    "z": 0.0545499213039875
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.36921200156211853,
                "transform": {
                    "location": {
                        "x": 1952.1240234375,
                        "y": 2065.5302734375,
                        "z": 360.91925048828125
                    },
                    "rotation": {
                        "roll": 0.005668089725077152,
                        "pitch": -0.982024073600769,
                        "yaw": -0.3871154189109802
                    }
                },
                "velocity": {
                    "x": 0.36917638778686523,
                    "y": -0.001008333871141076,
                    "z": -0.005028705578297377
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5130,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.002469992730766535,
                "transform": {
                    "location": {
                        "x": 1984.9776611328125,
                        "y": 2131.7666015625,
                        "z": 361.50384521484375
                    },
                    "rotation": {
                        "roll": -0.0008849617443047464,
                        "pitch": -0.9900768399238586,
                        "yaw": -89.8895034790039
                    }
                },
                "velocity": {
                    "x": -9.414626401849091e-05,
                    "y": -6.067797585274093e-05,
                    "z": 0.00246745184995234
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5129,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.139592409133911,
                "transform": {
                    "location": {
                        "x": 1985.1077880859375,
                        "y": 2116.046630859375,
                        "z": 361.1943359375
                    },
                    "rotation": {
                        "roll": 0.0010068975389003754,
                        "pitch": -0.9499836564064026,
                        "yaw": -89.97020721435547
                    }
                },
                "velocity": {
                    "x": 0.0037576076574623585,
                    "y": -2.1392743587493896,
                    "z": -0.0366954542696476
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00011584018648136407,
                "transform": {
                    "location": {
                        "x": 1962.9481201171875,
                        "y": 2065.502197265625,
                        "z": 360.7489013671875
                    },
                    "rotation": {
                        "roll": 0.0002768950944300741,
                        "pitch": -0.9143368601799011,
                        "yaw": -0.2145080268383026
                    }
                },
                "velocity": {
                    "x": 3.104984716628678e-05,
                    "y": -2.9197130061220378e-05,
                    "z": 0.00010771436063805595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5127,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0018773882184177637,
                "transform": {
                    "location": {
                        "x": 1985.1224365234375,
                        "y": 2102.849853515625,
                        "z": 361.02191162109375
                    },
                    "rotation": {
                        "roll": -0.028747517615556717,
                        "pitch": -1.2967864274978638,
                        "yaw": -88.84087371826172
                    }
                },
                "velocity": {
                    "x": -0.0009357883827760816,
                    "y": 3.690093581099063e-05,
                    "z": 0.0016271217027679086
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5125,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004380339756608009,
                "transform": {
                    "location": {
                        "x": 1972.9459228515625,
                        "y": 2065.206298828125,
                        "z": 360.5857849121094
                    },
                    "rotation": {
                        "roll": 0.05829163268208504,
                        "pitch": -1.0009504556655884,
                        "yaw": -3.5007636547088623
                    }
                },
                "velocity": {
                    "x": -0.004317713435739279,
                    "y": 0.0006005764007568359,
                    "z": -0.00042899130494333804
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5118,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5932161808013916,
                "transform": {
                    "location": {
                        "x": 1985.1558837890625,
                        "y": 2091.017822265625,
                        "z": 360.7991027832031
                    },
                    "rotation": {
                        "roll": 0.0017304944340139627,
                        "pitch": -0.7842695713043213,
                        "yaw": -89.96041870117188
                    }
                },
                "velocity": {
                    "x": 0.0017009411239996552,
                    "y": -1.5930335521697998,
                    "z": -0.024065852165222168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5117,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.003029413288459182,
                "transform": {
                    "location": {
                        "x": 1985.165771484375,
                        "y": 2078.81201171875,
                        "z": 360.61260986328125
                    },
                    "rotation": {
                        "roll": 0.004902677144855261,
                        "pitch": -1.0278955698013306,
                        "yaw": -90.6438217163086
                    }
                },
                "velocity": {
                    "x": 0.0002097324759233743,
                    "y": 0.0022489295806735754,
                    "z": 0.0020188295748084784
                },
                "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": 0.328302264213562,
        "expert_target_speed": 10.0,
        "target_point": [
            50.53769481171126,
            0.6585859191608655
        ],
        "target_point_next": [
            53.5376338846232,
            0.6805165691413428
        ]
    },
    "375": {
        "acceleration": [
            -0.03611564636230469,
            -0.37625551223754883,
            0.009095370769500732
        ],
        "angular_velocity": [
            -0.8727839589118958,
            -0.615699052810669,
            -7.4388251304626465
        ],
        "forward_vector": [
            -0.9987708926200867,
            0.04545322433114052,
            0.019762538373470306
        ],
        "right_vector": [
            -0.04548582807183266,
            -0.998964250087738,
            -0.001203009276650846
        ],
        "location": [
            1971.68359375,
            2062.974365234375,
            360.6024475097656
        ],
        "rotation": [
            0.06894083321094513,
            1.1323838233947754,
            177.39431762695312
        ],
        "velocity": [
            -5.097973346710205,
            0.31745854020118713,
            0.08794547617435455
        ],
        "speed": 5.107848095677309,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 79.6790771484375,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.6977972984313965,
                "transform": {
                    "location": {
                        "x": 1938.916259765625,
                        "y": 2065.534423828125,
                        "z": 361.0959777832031
                    },
                    "rotation": {
                        "roll": 0.01542875450104475,
                        "pitch": -0.30624517798423767,
                        "yaw": 0.2488858699798584
                    }
                },
                "velocity": {
                    "x": 6.697207450866699,
                    "y": 0.018749622628092766,
                    "z": -0.0868949219584465
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.813453197479248,
                "transform": {
                    "location": {
                        "x": 1982.390869140625,
                        "y": 2048.40771484375,
                        "z": 360.1644592285156
                    },
                    "rotation": {
                        "roll": 0.0006728377193212509,
                        "pitch": 0.7913866639137268,
                        "yaw": 90.13915252685547
                    }
                },
                "velocity": {
                    "x": -0.006766000762581825,
                    "y": 3.8130745887756348,
                    "z": 0.05330566316843033
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.046366572380066,
                "transform": {
                    "location": {
                        "x": 1952.2540283203125,
                        "y": 2065.52978515625,
                        "z": 360.91748046875
                    },
                    "rotation": {
                        "roll": 0.004128158558160067,
                        "pitch": -0.845399796962738,
                        "yaw": -0.4244079291820526
                    }
                },
                "velocity": {
                    "x": 1.0462379455566406,
                    "y": -0.006222942378371954,
                    "z": -0.015179157257080078
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010216319933533669,
                "transform": {
                    "location": {
                        "x": 1962.949951171875,
                        "y": 2065.502197265625,
                        "z": 360.7489013671875
                    },
                    "rotation": {
                        "roll": 0.00022937872563488781,
                        "pitch": -0.9127796292304993,
                        "yaw": -0.2149963080883026
                    }
                },
                "velocity": {
                    "x": -0.001000378979369998,
                    "y": 0.00010936532635241747,
                    "z": 0.00017610548820812255
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4391736090183258,
        "expert_target_speed": 10.0,
        "target_point": [
            49.20279443273425,
            2.423186141993672
        ],
        "target_point_next": [
            52.20018103760865,
            2.5488401730145123
        ]
    },
    "380": {
        "acceleration": [
            -3.4737777709960938,
            -0.08337229490280151,
            0.06679505109786987
        ],
        "angular_velocity": [
            0.04071376845240593,
            0.9284489154815674,
            4.548984050750732
        ],
        "forward_vector": [
            -0.9988712668418884,
            0.04091351106762886,
            0.024128835648298264
        ],
        "right_vector": [
            -0.040879227221012115,
            -0.9991622567176819,
            0.0019126564729958773
        ],
        "location": [
            1970.2730712890625,
            2063.03369140625,
            360.6256103515625
        ],
        "rotation": [
            -0.1096191257238388,
            1.3826146125793457,
            177.6544952392578
        ],
        "velocity": [
            -6.350405693054199,
            0.22919732332229614,
            0.10900398343801498
        ],
        "speed": 6.354540414490515,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.2684555053711,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5386290550231934,
                "transform": {
                    "location": {
                        "x": 1940.349365234375,
                        "y": 2065.538330078125,
                        "z": 361.08056640625
                    },
                    "rotation": {
                        "roll": 0.005394290201365948,
                        "pitch": -1.292695164680481,
                        "yaw": 0.16031375527381897
                    }
                },
                "velocity": {
                    "x": 3.538271188735962,
                    "y": 0.008113949559628963,
                    "z": -0.04967387020587921
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.5822689533233643,
                "transform": {
                    "location": {
                        "x": 1982.3900146484375,
                        "y": 2049.327392578125,
                        "z": 360.17724609375
                    },
                    "rotation": {
                        "roll": 0.004397140815854073,
                        "pitch": 0.7921106815338135,
                        "yaw": 90.26809692382812
                    }
                },
                "velocity": {
                    "x": -0.008617502637207508,
                    "y": 3.5818872451782227,
                    "z": 0.05158109590411186
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.000748872756958,
                "transform": {
                    "location": {
                        "x": 1952.638427734375,
                        "y": 2065.52783203125,
                        "z": 360.91204833984375
                    },
                    "rotation": {
                        "roll": 0.002079628175124526,
                        "pitch": -0.7263495922088623,
                        "yaw": -0.4066162109375
                    }
                },
                "velocity": {
                    "x": 2.000500202178955,
                    "y": -0.009210197255015373,
                    "z": -0.030174655839800835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6986409425735474,
                "transform": {
                    "location": {
                        "x": 1963.0321044921875,
                        "y": 2065.50244140625,
                        "z": 360.7475280761719
                    },
                    "rotation": {
                        "roll": 0.0010991701856255531,
                        "pitch": -0.9012092351913452,
                        "yaw": -0.240997314453125
                    }
                },
                "velocity": {
                    "x": 0.6985500454902649,
                    "y": -0.0028002304024994373,
                    "z": -0.010917186737060547
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4568268060684204,
        "expert_target_speed": 10.0,
        "target_point": [
            47.80152193226505,
            2.201286762755469
        ],
        "target_point_next": [
            50.799448217175424,
            2.31332865151031
        ]
    },
    "385": {
        "acceleration": [
            -3.696718215942383,
            -0.4350966215133667,
            0.07923662662506104
        ],
        "angular_velocity": [
            -0.14491000771522522,
            -0.04460659623146057,
            1.4215731620788574
        ],
        "forward_vector": [
            -0.9992468953132629,
            0.02956470660865307,
            0.025131916627287865
        ],
        "right_vector": [
            -0.02950180694460869,
            -0.9995606541633606,
            0.0028699759859591722
        ],
        "location": [
            1968.5574951171875,
            2063.0830078125,
            360.6547546386719
        ],
        "rotation": [
            -0.16448968648910522,
            1.440104365348816,
            178.30528259277344
        ],
        "velocity": [
            -7.3194146156311035,
            0.14072401821613312,
            0.12512874603271484
        ],
        "speed": 7.320767279788172,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.55274963378906,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3984183967113495,
                "transform": {
                    "location": {
                        "x": 1940.5753173828125,
                        "y": 2065.538818359375,
                        "z": 361.0806579589844
                    },
                    "rotation": {
                        "roll": -6.103487976361066e-05,
                        "pitch": -2.1614952087402344,
                        "yaw": 0.15292830765247345
                    }
                },
                "velocity": {
                    "x": 0.3983779847621918,
                    "y": -0.0017462939722463489,
                    "z": -0.005397596396505833
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2401461601257324,
                "transform": {
                    "location": {
                        "x": 1982.3878173828125,
                        "y": 2050.009033203125,
                        "z": 360.1872863769531
                    },
                    "rotation": {
                        "roll": 0.0015839318512007594,
                        "pitch": 0.7297988533973694,
                        "yaw": 90.23583984375
                    }
                },
                "velocity": {
                    "x": -0.004826048389077187,
                    "y": 2.2399234771728516,
                    "z": 0.031218137592077255
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.011088079772889614,
                "transform": {
                    "location": {
                        "x": 1953.04931640625,
                        "y": 2065.5263671875,
                        "z": 360.90557861328125
                    },
                    "rotation": {
                        "roll": 0.004901118576526642,
                        "pitch": -1.0586861371994019,
                        "yaw": -0.3624267280101776
                    }
                },
                "velocity": {
                    "x": 0.011086654849350452,
                    "y": -9.840689017437398e-06,
                    "z": 0.00017745762306731194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4273598194122314,
                "transform": {
                    "location": {
                        "x": 1963.2999267578125,
                        "y": 2065.5009765625,
                        "z": 360.7431640625
                    },
                    "rotation": {
                        "roll": 0.0002668618399184197,
                        "pitch": -0.8951372504234314,
                        "yaw": -0.2498779445886612
                    }
                },
                "velocity": {
                    "x": 1.427168846130371,
                    "y": -0.006083258427679539,
                    "z": -0.022538919001817703
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42169520258903503,
        "expert_target_speed": 10.0,
        "target_point": [
            46.10715652674654,
            1.6567728606034662
        ],
        "target_point_next": [
            49.10616200602257,
            1.7347570247948898
        ]
    },
    "390": {
        "acceleration": [
            -3.72467041015625,
            -0.41999733448028564,
            0.056593120098114014
        ],
        "angular_velocity": [
            -0.0688064694404602,
            0.001755798701196909,
            5.798303604125977
        ],
        "forward_vector": [
            -0.9996063709259033,
            0.012920930981636047,
            0.024901913478970528
        ],
        "right_vector": [
            -0.012851860374212265,
            -0.9999131560325623,
            0.002931758761405945
        ],
        "location": [
            1966.6102294921875,
            2063.109619140625,
            360.6881408691406
        ],
        "rotation": [
            -0.1680297553539276,
            1.426922082901001,
            179.25942993164062
        ],
        "velocity": [
            -8.23262882232666,
            0.047320518642663956,
            0.1405370831489563
        ],
        "speed": 8.232764818558117,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.60529327392578,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.445631742477417,
                "transform": {
                    "location": {
                        "x": 1940.8333740234375,
                        "y": 2065.538818359375,
                        "z": 361.0730285644531
                    },
                    "rotation": {
                        "roll": 0.0021361508406698704,
                        "pitch": -1.007022500038147,
                        "yaw": 0.1555638611316681
                    }
                },
                "velocity": {
                    "x": 1.445508360862732,
                    "y": 0.001963904360309243,
                    "z": -0.018783273175358772
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.7004756927490234,
                "transform": {
                    "location": {
                        "x": 1982.3857421875,
                        "y": 2050.592529296875,
                        "z": 360.19482421875
                    },
                    "rotation": {
                        "roll": 0.0016246819868683815,
                        "pitch": 0.8147459030151367,
                        "yaw": 90.17742156982422
                    }
                },
                "velocity": {
                    "x": -0.005094125866889954,
                    "y": 2.7002110481262207,
                    "z": 0.037459440529346466
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15346814692020416,
                "transform": {
                    "location": {
                        "x": 1953.055419921875,
                        "y": 2065.5263671875,
                        "z": 360.9056701660156
                    },
                    "rotation": {
                        "roll": 0.003304024925455451,
                        "pitch": -0.9355173110961914,
                        "yaw": -0.378875732421875
                    }
                },
                "velocity": {
                    "x": 0.15343976020812988,
                    "y": -0.0008648294606246054,
                    "z": -0.002822132082656026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3215579986572266,
                "transform": {
                    "location": {
                        "x": 1963.7740478515625,
                        "y": 2065.4990234375,
                        "z": 360.7355651855469
                    },
                    "rotation": {
                        "roll": 0.0005699763423763216,
                        "pitch": -0.8949254751205444,
                        "yaw": -0.25265493988990784
                    }
                },
                "velocity": {
                    "x": 2.321216344833374,
                    "y": -0.010237847454845905,
                    "z": -0.03848685324192047
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3647896647453308,
        "expert_target_speed": 10.0,
        "target_point": [
            44.18090549954314,
            0.8901944697989196
        ],
        "target_point_next": [
            47.18079375468693,
            0.9182275082108065
        ]
    },
    "395": {
        "acceleration": [
            -1.8264198303222656,
            0.4308454692363739,
            0.0296822190284729
        ],
        "angular_velocity": [
            0.7662473917007446,
            -0.8486669063568115,
            -3.432760238647461
        ],
        "forward_vector": [
            -0.9996989965438843,
            0.0056030284613370895,
            0.02388405241072178
        ],
        "right_vector": [
            -0.005581370089203119,
            -0.9999839067459106,
            0.0009733736515045166
        ],
        "location": [
            1964.4327392578125,
            2063.120849609375,
            360.724365234375
        ],
        "rotation": [
            -0.0557861290872097,
            1.368585467338562,
            179.6788787841797
        ],
        "velocity": [
            -9.070357322692871,
            0.06690039485692978,
            0.1480247676372528
        ],
        "speed": 9.070604038550034,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 72.42755889892578,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1441359519958496,
                "transform": {
                    "location": {
                        "x": 1941.310302734375,
                        "y": 2065.539306640625,
                        "z": 361.0653076171875
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": -0.6093689799308777,
                        "yaw": 0.11545528471469879
                    }
                },
                "velocity": {
                    "x": 2.14394474029541,
                    "y": 0.004166319966316223,
                    "z": -0.02833598107099533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5132,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4601290225982666,
                "transform": {
                    "location": {
                        "x": 1982.3856201171875,
                        "y": 2051.40234375,
                        "z": 360.205810546875
                    },
                    "rotation": {
                        "roll": 0.0037338058464229107,
                        "pitch": 0.8532339930534363,
                        "yaw": 90.39086151123047
                    }
                },
                "velocity": {
                    "x": -0.0012580486945807934,
                    "y": 3.4597973823547363,
                    "z": 0.04787756875157356
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9481574892997742,
                "transform": {
                    "location": {
                        "x": 1953.189208984375,
                        "y": 2065.526123046875,
                        "z": 360.90386962890625
                    },
                    "rotation": {
                        "roll": 0.0025321627035737038,
                        "pitch": -0.7687377333641052,
                        "yaw": -0.38073718547821045
                    }
                },
                "velocity": {
                    "x": 0.9480454325675964,
                    "y": -0.0045996373519301414,
                    "z": -0.013832378201186657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0814008712768555,
                "transform": {
                    "location": {
                        "x": 1964.453125,
                        "y": 2065.495849609375,
                        "z": 360.724365234375
                    },
                    "rotation": {
                        "roll": 0.0007704870076850057,
                        "pitch": -0.9139748811721802,
                        "yaw": -0.2502746284008026
                    }
                },
                "velocity": {
                    "x": 3.080946207046509,
                    "y": -0.013476409949362278,
                    "z": -0.05119278281927109
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3496750295162201,
        "expert_target_speed": 10.0,
        "target_point": [
            42.008719532330105,
            0.5657575024902606
        ],
        "target_point_next": [
            45.008732622583935,
            0.571828161261657
        ]
    },
    "400": {
        "acceleration": [
            -2.751941680908203,
            0.4368463158607483,
            0.0195351243019104
        ],
        "angular_velocity": [
            0.2879425883293152,
            0.04251783341169357,
            -0.6105710864067078
        ],
        "forward_vector": [
            -0.9996368288993835,
            0.013981379568576813,
            0.02303551509976387
        ],
        "right_vector": [
            -0.014007292687892914,
            -0.9999014139175415,
            -0.0009639255586080253
        ],
        "location": [
            1962.08154296875,
            2063.150146484375,
            360.7624206542969
        ],
        "rotation": [
            0.055243536829948425,
            1.319954514503479,
            179.1986846923828
        ],
        "velocity": [
            -9.889185905456543,
            0.17173033952713013,
            0.1553630381822586
        ],
        "speed": 9.890676881902191,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 70.07618713378906,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0111083984375,
                2062.899658203125,
                361.62445068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3576469421386719,
                "transform": {
                    "location": {
                        "x": 1941.5382080078125,
                        "y": 2065.5400390625,
                        "z": 361.0646667480469
                    },
                    "rotation": {
                        "roll": -0.006469727028161287,
                        "pitch": -1.2525336742401123,
                        "yaw": 0.10039188712835312
                    }
                },
                "velocity": {
                    "x": 0.3576052486896515,
                    "y": 0.0012010510545223951,
                    "z": -0.005325946491211653
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.936564326286316,
                "transform": {
                    "location": {
                        "x": 1953.5550537109375,
                        "y": 2065.5244140625,
                        "z": 360.89862060546875
                    },
                    "rotation": {
                        "roll": 0.0013457736931741238,
                        "pitch": -0.702300488948822,
                        "yaw": -0.3834228515625
                    }
                },
                "velocity": {
                    "x": 1.9363330602645874,
                    "y": -0.008731120266020298,
                    "z": -0.02862199768424034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.855994701385498,
                "transform": {
                    "location": {
                        "x": 1965.3233642578125,
                        "y": 2065.491943359375,
                        "z": 360.7099914550781
                    },
                    "rotation": {
                        "roll": 2.084686312464612e-10,
                        "pitch": -0.9358861446380615,
                        "yaw": -0.2510986030101776
                    }
                },
                "velocity": {
                    "x": 3.8554370403289795,
                    "y": -0.015731453895568848,
                    "z": -0.06364946067333221
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1892.0111083984375,
                        "y": 2062.899658203125,
                        "z": 361.62445068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5092383623123169,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.9924294352531433,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36562058329582214,
        "expert_target_speed": 10.0,
        "target_point": [
            39.651126205369444,
            0.9142361325993029
        ],
        "target_point_next": [
            42.650983044996195,
            0.9454504936671788
        ]
    },
    "405": {
        "acceleration": [
            -1.2161827087402344,
            0.45410633087158203,
            0.024280250072479248
        ],
        "angular_velocity": [
            0.06411631405353546,
            -0.5013474822044373,
            -4.299507141113281
        ],
        "forward_vector": [
            -0.9994788765907288,
            0.024620218202471733,
            0.02087489143013954
        ],
        "right_vector": [
            -0.02466125413775444,
            -0.9996943473815918,
            -0.0017106215236708522
        ],
        "location": [
            1959.5615234375,
            2063.204833984375,
            360.802734375
        ],
        "rotation": [
            0.09803280234336853,
            1.1961300373077393,
            178.5889129638672
        ],
        "velocity": [
            -10.238779067993164,
            0.2794787883758545,
            0.16258975863456726
        ],
        "speed": 10.242592698937463,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.55634307861328,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.623779296875
            ],
            "velocity": [
                3.775261211558245e-05,
                -0.0001342087925877422,
                -0.0019024335779249668
            ],
            "speed_kmh": 0.00686712694543865,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 1919.43115234375,
                        "y": 2065.55126953125,
                        "z": 361.4264831542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6618931293487549,
                        "yaw": -0.2058410495519638
                    }
                },
                "velocity": {
                    "x": -1.744523991931146e-08,
                    "y": 6.267411589711003e-11,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2920266389846802,
                "transform": {
                    "location": {
                        "x": 1941.7647705078125,
                        "y": 2065.5400390625,
                        "z": 361.0596923828125
                    },
                    "rotation": {
                        "roll": -0.004547118674963713,
                        "pitch": -0.7287333607673645,
                        "yaw": 0.05047290399670601
                    }
                },
                "velocity": {
                    "x": 1.2919251918792725,
                    "y": 0.002402737271040678,
                    "z": -0.01601496711373329
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.038828134536743,
                "transform": {
                    "location": {
                        "x": 1954.1058349609375,
                        "y": 2065.522216796875,
                        "z": 360.8903503417969
                    },
                    "rotation": {
                        "roll": 0.0048957690596580505,
                        "pitch": -0.8011743426322937,
                        "yaw": -0.4419555068016052
                    }
                },
                "velocity": {
                    "x": 2.0385866165161133,
                    "y": -0.01103617437183857,
                    "z": -0.029381131753325462
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.199430465698242,
                "transform": {
                    "location": {
                        "x": 1966.3636474609375,
                        "y": 2065.488037109375,
                        "z": 360.6929931640625
                    },
                    "rotation": {
                        "roll": -9.15527853067033e-05,
                        "pitch": -0.9684388041496277,
                        "yaw": -0.25115966796875
                    }
                },
                "velocity": {
                    "x": 4.19877815246582,
                    "y": -0.0192559901624918,
                    "z": -0.07146444171667099
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0019075352465733886,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.623779296875
                    },
                    "rotation": {
                        "roll": -0.00042724591912701726,
                        "pitch": 0.5120592713356018,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 3.775261211558245e-05,
                    "y": -0.0001342087925877422,
                    "z": -0.0019024335779249668
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.33259737491607666,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4209609925746918,
        "expert_target_speed": 10.0,
        "target_point": [
            37.11854971667801,
            1.3287607042356333
        ],
        "target_point_next": [
            40.117904507544154,
            1.3918973267349104
        ]
    },
    "410": {
        "acceleration": [
            -1.1177253723144531,
            0.5133694410324097,
            -0.005938410758972168
        ],
        "angular_velocity": [
            0.04593227431178093,
            -0.4897870719432831,
            -0.8198015093803406
        ],
        "forward_vector": [
            -0.9992007613182068,
            0.03519120439887047,
            0.018958741798996925
        ],
        "right_vector": [
            -0.035237379372119904,
            -0.9993767142295837,
            -0.002106896135956049
        ],
        "location": [
            1956.965087890625,
            2063.288818359375,
            360.84368896484375
        ],
        "rotation": [
            0.12073803693056107,
            1.0863209962844849,
            177.98291015625
        ],
        "velocity": [
            -10.524395942687988,
            0.4022457003593445,
            0.1610318124294281
        ],
        "speed": 10.532080115624119,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.96007537841797,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                2.0440444131963886e-05,
                -3.2120988180395216e-05,
                -7.837702287361026e-05
            ],
            "speed_kmh": 0.00031368639512856754,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9799728989601135,
                "transform": {
                    "location": {
                        "x": 1973.22119140625,
                        "y": 2062.608154296875,
                        "z": 360.9272155761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.015095829963684,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": -0.0016069358680397272,
                    "y": 5.7727870625967626e-06,
                    "z": -0.9799715876579285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15582357347011566,
                "transform": {
                    "location": {
                        "x": 1919.4302978515625,
                        "y": 2065.55126953125,
                        "z": 361.3070373535156
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": -0.6559781432151794,
                        "yaw": -0.2058105319738388
                    }
                },
                "velocity": {
                    "x": 0.0018026505131274462,
                    "y": -0.00010682408174034208,
                    "z": 0.15581311285495758
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2099812030792236,
                "transform": {
                    "location": {
                        "x": 1942.199951171875,
                        "y": 2065.540283203125,
                        "z": 361.05303955078125
                    },
                    "rotation": {
                        "roll": -0.005554198287427425,
                        "pitch": -0.4989043176174164,
                        "yaw": 0.06688980013132095
                    }
                },
                "velocity": {
                    "x": 2.209770441055298,
                    "y": 0.00422167032957077,
                    "z": -0.030227765440940857
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5937148928642273,
                "transform": {
                    "location": {
                        "x": 1954.261474609375,
                        "y": 2065.521484375,
                        "z": 360.88787841796875
                    },
                    "rotation": {
                        "roll": 0.006226243916898966,
                        "pitch": -0.9822357892990112,
                        "yaw": -0.5272826552391052
                    }
                },
                "velocity": {
                    "x": 0.5936545133590698,
                    "y": -0.003287045517936349,
                    "z": -0.007800626568496227
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8719606399536133,
                "transform": {
                    "location": {
                        "x": 1967.3651123046875,
                        "y": 2065.484375,
                        "z": 360.67620849609375
                    },
                    "rotation": {
                        "roll": 0.0009609481203369796,
                        "pitch": -0.9900153875350952,
                        "yaw": -0.254638671875
                    }
                },
                "velocity": {
                    "x": 3.8713314533233643,
                    "y": -0.017204049974679947,
                    "z": -0.06764870882034302
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.713510760571808e-05,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 2.0440444131963886e-05,
                    "y": -3.2120988180395216e-05,
                    "z": -7.837702287361026e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.47536998987197876,
        "expert_target_speed": 10.0,
        "target_point": [
            34.50463711302319,
            1.7138170207876064
        ],
        "target_point_next": [
            37.503156374630684,
            1.8086728712194315
        ]
    },
    "415": {
        "acceleration": [
            -0.7576751708984375,
            -0.43329358100891113,
            -0.042610764503479004
        ],
        "angular_velocity": [
            -0.6244011521339417,
            -0.18262147903442383,
            0.771263837814331
        ],
        "forward_vector": [
            -0.9992555975914001,
            0.034446291625499725,
            0.01737268641591072
        ],
        "right_vector": [
            -0.0344427116215229,
            -0.9994065761566162,
            0.0005053916247561574
        ],
        "location": [
            1954.298095703125,
            2063.382568359375,
            360.88421630859375
        ],
        "rotation": [
            -0.0289611779153347,
            0.9954317212104797,
            178.0256805419922
        ],
        "velocity": [
            -10.789525032043457,
            0.33419856429100037,
            0.15799617767333984
        ],
        "speed": 10.794699583474593,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.29349136352539,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                1.842081474023871e-05,
                -2.083007166220341e-05,
                -0.00012327324657235295
            ],
            "speed_kmh": 0.0004549339189556959,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6031908988952637,
                "transform": {
                    "location": {
                        "x": 1973.218994140625,
                        "y": 2062.608154296875,
                        "z": 360.53857421875
                    },
                    "rotation": {
                        "roll": -0.0016784663312137127,
                        "pitch": 1.0179098844528198,
                        "yaw": 179.79391479492188
                    }
                },
                "velocity": {
                    "x": -0.010573426261544228,
                    "y": 0.00018934853142127395,
                    "z": -0.6030982136726379
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1099933385849,
                "transform": {
                    "location": {
                        "x": 1919.5162353515625,
                        "y": 2065.5517578125,
                        "z": 361.3341369628906
                    },
                    "rotation": {
                        "roll": -0.004547118209302425,
                        "pitch": -0.5152626037597656,
                        "yaw": -0.160858154296875
                    }
                },
                "velocity": {
                    "x": 1.109109878540039,
                    "y": 0.006827185396105051,
                    "z": 0.043747298419475555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8450857400894165,
                "transform": {
                    "location": {
                        "x": 1942.770263671875,
                        "y": 2065.54150390625,
                        "z": 361.0460205078125
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.6768785119056702,
                        "yaw": 0.04645977169275284
                    }
                },
                "velocity": {
                    "x": 1.8449045419692993,
                    "y": -0.0008717795135453343,
                    "z": -0.0258464515209198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.575716257095337,
                "transform": {
                    "location": {
                        "x": 1954.53271484375,
                        "y": 2065.52001953125,
                        "z": 360.8841857910156
                    },
                    "rotation": {
                        "roll": 0.00261209299787879,
                        "pitch": -0.7522565126419067,
                        "yaw": -0.49050894379615784
                    }
                },
                "velocity": {
                    "x": 1.57553231716156,
                    "y": -0.007963051088154316,
                    "z": -0.02271861582994461
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.712099313735962,
                "transform": {
                    "location": {
                        "x": 1968.309814453125,
                        "y": 2065.46142578125,
                        "z": 360.6598205566406
                    },
                    "rotation": {
                        "roll": 0.021254267543554306,
                        "pitch": -0.987030565738678,
                        "yaw": -0.98162841796875
                    }
                },
                "velocity": {
                    "x": 3.707098960876465,
                    "y": -0.18174917995929718,
                    "z": -0.06377226859331131
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012637053441721946,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 1.842081474023871e-05,
                    "y": -2.083007166220341e-05,
                    "z": -0.00012327324657235295
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.49668797850608826,
        "expert_target_speed": 10.0,
        "target_point": [
            31.837267630406124,
            1.6898803756057386
        ],
        "target_point_next": [
            34.835856843278314,
            1.7824985543766358
        ]
    },
    "420": {
        "acceleration": [
            0.4385185241699219,
            -0.67516028881073,
            -0.004311501979827881
        ],
        "angular_velocity": [
            -0.4101802706718445,
            -0.3409290313720703,
            4.632538795471191
        ],
        "forward_vector": [
            -0.9995987415313721,
            0.023686252534389496,
            0.015536516904830933
        ],
        "right_vector": [
            -0.023657940328121185,
            -0.9997180700302124,
            0.002003519097343087
        ],
        "location": [
            1951.6121826171875,
            2063.455322265625,
            360.9237060546875
        ],
        "rotation": [
            -0.1148071363568306,
            0.8902126550674438,
            178.64259338378906
        ],
        "velocity": [
            -10.691044807434082,
            0.22419267892837524,
            0.15662428736686707
        ],
        "speed": 10.693395224709892,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.6080207824707,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                1.7764419681043364e-05,
                1.4996254549259902e-06,
                -4.15584072470665e-05
            ],
            "speed_kmh": 0.0001627950369650421,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.15090900659561157,
                "transform": {
                    "location": {
                        "x": 1973.21875,
                        "y": 2062.608154296875,
                        "z": 360.5329895019531
                    },
                    "rotation": {
                        "roll": -0.0029602046124637127,
                        "pitch": 1.0198428630828857,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": 0.002715440234169364,
                    "y": -5.9356367273721844e-05,
                    "z": 0.15088456869125366
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3701765537261963,
                "transform": {
                    "location": {
                        "x": 1919.961181640625,
                        "y": 2065.554443359375,
                        "z": 361.335693359375
                    },
                    "rotation": {
                        "roll": -0.007659911643713713,
                        "pitch": -0.46191200613975525,
                        "yaw": -0.0008850098238326609
                    }
                },
                "velocity": {
                    "x": 2.3700764179229736,
                    "y": 0.013665786944329739,
                    "z": -0.016975678503513336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8882837295532227,
                "transform": {
                    "location": {
                        "x": 1942.9056396484375,
                        "y": 2065.541259765625,
                        "z": 361.0455627441406
                    },
                    "rotation": {
                        "roll": -0.0015869138296693563,
                        "pitch": -1.0619168281555176,
                        "yaw": 0.10093644261360168
                    }
                },
                "velocity": {
                    "x": 0.8882098197937012,
                    "y": -0.00166018633171916,
                    "z": -0.011335935443639755
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5779244899749756,
                "transform": {
                    "location": {
                        "x": 1955.0482177734375,
                        "y": 2065.518310546875,
                        "z": 360.8766784667969
                    },
                    "rotation": {
                        "roll": 0.0012245646212249994,
                        "pitch": -0.7019316554069519,
                        "yaw": -0.394378662109375
                    }
                },
                "velocity": {
                    "x": 2.5776286125183105,
                    "y": -0.011008469387888908,
                    "z": -0.037474989891052246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5409629344940186,
                "transform": {
                    "location": {
                        "x": 1969.2149658203125,
                        "y": 2065.421875,
                        "z": 360.6442565917969
                    },
                    "rotation": {
                        "roll": 0.02897172048687935,
                        "pitch": -0.9862041473388672,
                        "yaw": -1.832366704940796
                    }
                },
                "velocity": {
                    "x": 3.5352745056152344,
                    "y": -0.1910599023103714,
                    "z": -0.06122397258877754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.522084418567829e-05,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 1.7764419681043364e-05,
                    "y": 1.4996254549259902e-06,
                    "z": -4.15584072470665e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1881.5665283203125,
                        "y": 2062.937255859375,
                        "z": 361.8926086425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.49913403391838074,
        "expert_target_speed": 0,
        "target_point": [
            29.16673397405398,
            1.3561047580841326
        ],
        "target_point_next": [
            32.16614657758651,
            1.4164324330145919
        ]
    },
    "425": {
        "acceleration": [
            0.029659271240234375,
            -0.5802980661392212,
            -0.043704211711883545
        ],
        "angular_velocity": [
            -0.030540576204657555,
            -0.2517342269420624,
            2.5382611751556396
        ],
        "forward_vector": [
            -0.9998794198036194,
            0.005303182639181614,
            0.014596180990338326
        ],
        "right_vector": [
            -0.005245958920568228,
            -0.9999784231185913,
            0.0039559598080813885
        ],
        "location": [
            1948.947509765625,
            2063.48486328125,
            360.9624938964844
        ],
        "rotation": [
            -0.2266845405101776,
            0.8363292813301086,
            179.6961212158203
        ],
        "velocity": [
            -10.649078369140625,
            0.013927552849054337,
            0.14961455762386322
        ],
        "speed": 10.649087476813547,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.94348907470703,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                1.7694979760563e-05,
                -2.5995389023591997e-06,
                -0.00010533998283790424
            ],
            "speed_kmh": 0.00038465089284435514,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3269861936569214,
                "transform": {
                    "location": {
                        "x": 1973.03466796875,
                        "y": 2062.606201171875,
                        "z": 360.5637512207031
                    },
                    "rotation": {
                        "roll": -0.016357421875,
                        "pitch": 1.3546313047409058,
                        "yaw": 179.8887176513672
                    }
                },
                "velocity": {
                    "x": -1.3234351873397827,
                    "y": -0.015068207867443562,
                    "z": 0.09583621472120285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.712614059448242,
                "transform": {
                    "location": {
                        "x": 1920.7142333984375,
                        "y": 2065.559326171875,
                        "z": 361.328125
                    },
                    "rotation": {
                        "roll": -0.009490964002907276,
                        "pitch": -0.44680362939834595,
                        "yaw": 0.1884499490261078
                    }
                },
                "velocity": {
                    "x": 3.7123003005981445,
                    "y": 0.025752706453204155,
                    "z": -0.0408158041536808
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.774633765220642,
                "transform": {
                    "location": {
                        "x": 1943.24560546875,
                        "y": 2065.54150390625,
                        "z": 361.0393371582031
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.6116297245025635,
                        "yaw": 0.06841891258955002
                    }
                },
                "velocity": {
                    "x": 1.7744824886322021,
                    "y": -0.0010851687984541059,
                    "z": -0.023141011595726013
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.17023229598999,
                "transform": {
                    "location": {
                        "x": 1955.900390625,
                        "y": 2065.5146484375,
                        "z": 360.8641052246094
                    },
                    "rotation": {
                        "roll": -0.0003967285738326609,
                        "pitch": -0.6315329074859619,
                        "yaw": -0.3037108778953552
                    }
                },
                "velocity": {
                    "x": 4.169728755950928,
                    "y": -0.015680205076932907,
                    "z": -0.06285837292671204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3757965564727783,
                "transform": {
                    "location": {
                        "x": 1970.0771484375,
                        "y": 2065.379638671875,
                        "z": 360.6295166015625
                    },
                    "rotation": {
                        "roll": 0.038329243659973145,
                        "pitch": -0.985780656337738,
                        "yaw": -2.368591547012329
                    }
                },
                "velocity": {
                    "x": 3.3700430393218994,
                    "y": -0.18812903761863708,
                    "z": -0.05847255885601044
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010684747394407168,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 1.7694979760563e-05,
                    "y": -2.5995389023591997e-06,
                    "z": -0.00010533998283790424
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.7649933695793152,
                "transform": {
                    "location": {
                        "x": 1881.5660400390625,
                        "y": 2062.937255859375,
                        "z": 361.7220764160156
                    },
                    "rotation": {
                        "roll": 0.000824074144475162,
                        "pitch": 0.4655798077583313,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": -0.006091824732720852,
                    "y": -6.022874003974721e-05,
                    "z": -0.7649691104888916
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4706147611141205,
        "expert_target_speed": 10.0,
        "target_point": [
            26.52194564190988,
            0.835002736687774
        ],
        "target_point_next": [
            29.521960422931695,
            0.8401707385188681
        ]
    },
    "430": {
        "acceleration": [
            0.4540061950683594,
            0.02445083111524582,
            -0.04553496837615967
        ],
        "angular_velocity": [
            0.4770025610923767,
            -0.16005970537662506,
            1.899317979812622
        ],
        "forward_vector": [
            -0.9999008178710938,
            -0.002794623840600252,
            0.013802565634250641
        ],
        "right_vector": [
            0.002824738621711731,
            -0.9999936819076538,
            0.0021628111135214567
        ],
        "location": [
            1946.2802734375,
            2063.485107421875,
            360.99957275390625
        ],
        "rotation": [
            -0.12393185496330261,
            0.7908539175987244,
            -179.83985900878906
        ],
        "velocity": [
            -10.66892147064209,
            -0.019311312586069107,
            0.14447173476219177
        ],
        "speed": 10.668938947876756,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.276153564453125,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                1.9495859305607155e-05,
                -1.2960689673491288e-05,
                -2.5029321477632038e-05
            ],
            "speed_kmh": 0.00012337735946669324,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3118128776550293,
                "transform": {
                    "location": {
                        "x": 1972.571533203125,
                        "y": 2062.601806640625,
                        "z": 360.58203125
                    },
                    "rotation": {
                        "roll": -0.0182800255715847,
                        "pitch": 1.4284588098526,
                        "yaw": -179.82168579101562
                    }
                },
                "velocity": {
                    "x": -2.3108043670654297,
                    "y": -0.02911287732422352,
                    "z": 0.06175795570015907
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.151416778564453,
                "transform": {
                    "location": {
                        "x": 1921.833251953125,
                        "y": 2065.568115234375,
                        "z": 361.315185546875
                    },
                    "rotation": {
                        "roll": -0.01184081844985485,
                        "pitch": -0.4534015953540802,
                        "yaw": 0.3532652258872986
                    }
                },
                "velocity": {
                    "x": 5.150954246520996,
                    "y": 0.04164086654782295,
                    "z": -0.055046021938323975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.288837194442749,
                "transform": {
                    "location": {
                        "x": 1943.796875,
                        "y": 2065.541748046875,
                        "z": 361.0316467285156
                    },
                    "rotation": {
                        "roll": 0.0038358939345926046,
                        "pitch": -0.5263070464134216,
                        "yaw": -0.0538635179400444
                    }
                },
                "velocity": {
                    "x": 2.2886252403259277,
                    "y": -0.003294238355010748,
                    "z": -0.03096628189086914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.429760932922363,
                "transform": {
                    "location": {
                        "x": 1957.1236572265625,
                        "y": 2065.5107421875,
                        "z": 360.84564208984375
                    },
                    "rotation": {
                        "roll": -0.0022888181265443563,
                        "pitch": -0.6748294830322266,
                        "yaw": -0.2363281100988388
                    }
                },
                "velocity": {
                    "x": 5.4291181564331055,
                    "y": -0.01822507567703724,
                    "z": -0.08152183145284653
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2280359268188477,
                "transform": {
                    "location": {
                        "x": 1970.900390625,
                        "y": 2065.335693359375,
                        "z": 360.6155090332031
                    },
                    "rotation": {
                        "roll": 0.04400550201535225,
                        "pitch": -0.9864500164985657,
                        "yaw": -2.711029291152954
                    }
                },
                "velocity": {
                    "x": 3.2222750186920166,
                    "y": -0.18434476852416992,
                    "z": -0.05635970085859299
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.4271488402737305e-05,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 1.9495859305607155e-05,
                    "y": -1.2960689673491288e-05,
                    "z": -2.5029321477632038e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.04180089756846428,
                "transform": {
                    "location": {
                        "x": 1881.56591796875,
                        "y": 2062.937255859375,
                        "z": 361.6887512207031
                    },
                    "rotation": {
                        "roll": 0.0005048025632277131,
                        "pitch": 0.4767266809940338,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": 0.0003542103513609618,
                    "y": -0.00019215115753468126,
                    "z": 0.04179895669221878
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4475397765636444,
        "expert_target_speed": 0,
        "target_point": [
            23.86061294991581,
            0.6278866846566229
        ],
        "target_point_next": [
            26.860571203085897,
            0.6087588560038699
        ]
    },
    "435": {
        "acceleration": [
            0.8336448669433594,
            -0.019042454659938812,
            0.004211068153381348
        ],
        "angular_velocity": [
            0.09105358272790909,
            -0.1084345281124115,
            -2.3974876403808594
        ],
        "forward_vector": [
            -0.9999249577522278,
            0.00023759806936141104,
            0.01225154660642147
        ],
        "right_vector": [
            -0.00023086188593879342,
            -0.9999998211860657,
            0.0005512328934855759
        ],
        "location": [
            1943.659912109375,
            2063.484130859375,
            361.034912109375
        ],
        "rotation": [
            -0.0315856896340847,
            0.7019794583320618,
            179.98638916015625
        ],
        "velocity": [
            -10.345355033874512,
            0.001692050602287054,
            0.1389583796262741
        ],
        "speed": 10.345355172247492,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.65570831298828,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                1.7453654436394572e-05,
                -3.806516133408877e-07,
                -7.40292989576119e-06
            ],
            "speed_kmh": 6.82651816492911e-05,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.442924976348877,
                "transform": {
                    "location": {
                        "x": 1971.8585205078125,
                        "y": 2062.597412109375,
                        "z": 360.5970764160156
                    },
                    "rotation": {
                        "roll": 0.008853215724229813,
                        "pitch": 1.4656082391738892,
                        "yaw": -179.7477264404297
                    }
                },
                "velocity": {
                    "x": -3.4422852993011475,
                    "y": -0.018075529485940933,
                    "z": 0.06386106461286545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5368332862854,
                "transform": {
                    "location": {
                        "x": 1923.1943359375,
                        "y": 2065.578125,
                        "z": 361.2990417480469
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.6052845120429993,
                        "yaw": 0.36741331219673157
                    }
                },
                "velocity": {
                    "x": 5.536388397216797,
                    "y": 0.027918392792344093,
                    "z": -0.06438493728637695
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3488485813140869,
                "transform": {
                    "location": {
                        "x": 1944.015625,
                        "y": 2065.542236328125,
                        "z": 361.0315246582031
                    },
                    "rotation": {
                        "roll": 0.006848546210676432,
                        "pitch": -1.2858854532241821,
                        "yaw": -0.1822204440832138
                    }
                },
                "velocity": {
                    "x": 0.3487998843193054,
                    "y": -0.0024460016284137964,
                    "z": -0.005290365312248468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.670106887817383,
                "transform": {
                    "location": {
                        "x": 1958.508544921875,
                        "y": 2065.507080078125,
                        "z": 360.82415771484375
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": -0.831356942653656,
                        "yaw": -0.1619262546300888
                    }
                },
                "velocity": {
                    "x": 5.669377326965332,
                    "y": -0.0168490968644619,
                    "z": -0.08939649164676666
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0731332302093506,
                "transform": {
                    "location": {
                        "x": 1971.6859130859375,
                        "y": 2065.29248046875,
                        "z": 360.6019592285156
                    },
                    "rotation": {
                        "roll": 0.0464746467769146,
                        "pitch": -0.9855620861053467,
                        "yaw": -2.934082269668579
                    }
                },
                "velocity": {
                    "x": 3.0675249099731445,
                    "y": -0.17801347374916077,
                    "z": -0.052446749061346054
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8962549802381545e-05,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 1.7453654436394572e-05,
                    "y": -3.806516133408877e-07,
                    "z": -7.40292989576119e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.015501957386732101,
                "transform": {
                    "location": {
                        "x": 1881.56591796875,
                        "y": 2062.937255859375,
                        "z": 361.6962890625
                    },
                    "rotation": {
                        "roll": 0.0011603108141571283,
                        "pitch": 0.47480741143226624,
                        "yaw": 179.79417419433594
                    }
                },
                "velocity": {
                    "x": 0.00013950369611848146,
                    "y": -6.244317773962393e-05,
                    "z": 0.015501203946769238
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4792867600917816,
        "expert_target_speed": 0,
        "target_point": [
            21.2382380233402,
            0.6986466181803914
        ],
        "target_point_next": [
            24.238240489528735,
            0.6886167899162543
        ]
    },
    "440": {
        "acceleration": [
            -0.3144645690917969,
            0.026736008003354073,
            -0.03785461187362671
        ],
        "angular_velocity": [
            0.11138544976711273,
            0.20807911455631256,
            1.8223810195922852
        ],
        "forward_vector": [
            -0.9999169707298279,
            0.0006345302099362016,
            0.01287174317985773
        ],
        "right_vector": [
            -0.0006330059259198606,
            -0.9999998211860657,
            0.00012249525752849877
        ],
        "location": [
            1941.0811767578125,
            2063.4853515625,
            361.0692443847656
        ],
        "rotation": [
            -0.007019042037427425,
            0.7375169396400452,
            179.96363830566406
        ],
        "velocity": [
            -10.327874183654785,
            0.007399739231914282,
            0.1363571733236313
        ],
        "speed": 10.327876834545602,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.07693862915039,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                1.809023342502769e-05,
                -1.020068864932e-07,
                -0.00011984633601969108
            ],
            "speed_kmh": 0.00043633442364458905,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.767974376678467,
                "transform": {
                    "location": {
                        "x": 1970.821044921875,
                        "y": 2062.592041015625,
                        "z": 360.6151123046875
                    },
                    "rotation": {
                        "roll": 0.009473482146859169,
                        "pitch": 1.5575767755508423,
                        "yaw": -179.72421264648438
                    }
                },
                "velocity": {
                    "x": -4.7672014236450195,
                    "y": -0.024057911708950996,
                    "z": 0.08239743858575821
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.386110782623291,
                "transform": {
                    "location": {
                        "x": 1924.7630615234375,
                        "y": 2065.583740234375,
                        "z": 361.280029296875
                    },
                    "rotation": {
                        "roll": 0.0012364385183900595,
                        "pitch": -0.4522131383419037,
                        "yaw": 0.23497596383094788
                    }
                },
                "velocity": {
                    "x": 7.385502338409424,
                    "y": 0.02524685487151146,
                    "z": -0.09135828912258148
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.259035348892212,
                "transform": {
                    "location": {
                        "x": 1944.227783203125,
                        "y": 2065.5419921875,
                        "z": 361.0266418457031
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": -0.745815634727478,
                        "yaw": -0.1532592922449112
                    }
                },
                "velocity": {
                    "x": 1.2589260339736938,
                    "y": -0.0009702106472104788,
                    "z": -0.016563167795538902
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.128560185432434,
                "transform": {
                    "location": {
                        "x": 1959.519287109375,
                        "y": 2065.50390625,
                        "z": 360.8069152832031
                    },
                    "rotation": {
                        "roll": -0.019317626953125,
                        "pitch": -1.453648567199707,
                        "yaw": 0.3431091010570526
                    }
                },
                "velocity": {
                    "x": 1.128368616104126,
                    "y": -0.008827594108879566,
                    "z": -0.018822822719812393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9420783519744873,
                "transform": {
                    "location": {
                        "x": 1972.435546875,
                        "y": 2065.25,
                        "z": 360.5889892578125
                    },
                    "rotation": {
                        "roll": 0.049184080213308334,
                        "pitch": -0.9916955828666687,
                        "yaw": -3.083557367324829
                    }
                },
                "velocity": {
                    "x": 2.936556100845337,
                    "y": -0.17245683073997498,
                    "z": -0.05216711014509201
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012120400788262486,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 1.809023342502769e-05,
                    "y": -1.020068864932e-07,
                    "z": -0.00011984633601969108
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0018674135208129883,
                "transform": {
                    "location": {
                        "x": 1881.56591796875,
                        "y": 2062.937255859375,
                        "z": 361.6979064941406
                    },
                    "rotation": {
                        "roll": 0.00011191805242560804,
                        "pitch": 0.4744454026222229,
                        "yaw": 179.7942352294922
                    }
                },
                "velocity": {
                    "x": 3.8946865970501676e-05,
                    "y": -3.8586105802096426e-05,
                    "z": 0.0018666086252778769
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4636997878551483,
        "expert_target_speed": 0,
        "target_point": [
            18.659223571787297,
            0.7066576943709482
        ],
        "target_point_next": [
            21.659229781004143,
            0.6978180533901872
        ]
    },
    "445": {
        "acceleration": [
            -0.5655860900878906,
            0.00987619161605835,
            -0.022041499614715576
        ],
        "angular_velocity": [
            0.035619888454675674,
            0.12935255467891693,
            -1.8898564577102661
        ],
        "forward_vector": [
            -0.999908447265625,
            0.0012133525451645255,
            0.013478347100317478
        ],
        "right_vector": [
            -0.0012139504542574286,
            -0.9999992847442627,
            -3.617935726651922e-05
        ],
        "location": [
            1938.482421875,
            2063.487060546875,
            361.10308837890625
        ],
        "rotation": [
            0.002073112642392516,
            0.7722758054733276,
            179.93048095703125
        ],
        "velocity": [
            -10.459790229797363,
            0.011188624426722527,
            0.13436169922351837
        ],
        "speed": 10.459796213917407,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.47818374633789,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                2.4057328118942678e-05,
                7.65024742577225e-06,
                4.375969365355559e-05
            ],
            "speed_kmh": 0.00018186921056831325,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.372226715087891,
                "transform": {
                    "location": {
                        "x": 1969.5106201171875,
                        "y": 2062.584716796875,
                        "z": 360.6385498046875
                    },
                    "rotation": {
                        "roll": 0.009551508352160454,
                        "pitch": 1.4136987924575806,
                        "yaw": -179.7265625
                    }
                },
                "velocity": {
                    "x": -5.371370792388916,
                    "y": -0.02830570936203003,
                    "z": 0.09163244068622589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.318167686462402,
                "transform": {
                    "location": {
                        "x": 1926.746826171875,
                        "y": 2065.589599609375,
                        "z": 361.2553405761719
                    },
                    "rotation": {
                        "roll": -0.0023803708609193563,
                        "pitch": -0.5264573097229004,
                        "yaw": 0.1918971836566925
                    }
                },
                "velocity": {
                    "x": 8.31750202178955,
                    "y": 0.02527713216841221,
                    "z": -0.10216811299324036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.104048013687134,
                "transform": {
                    "location": {
                        "x": 1944.6490478515625,
                        "y": 2065.541748046875,
                        "z": 361.0201416015625
                    },
                    "rotation": {
                        "roll": -0.0009460450382903218,
                        "pitch": -0.5225777626037598,
                        "yaw": -0.1453552395105362
                    }
                },
                "velocity": {
                    "x": 2.103851795196533,
                    "y": -0.003400307847186923,
                    "z": -0.02852783165872097
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1379731893539429,
                "transform": {
                    "location": {
                        "x": 1959.654052734375,
                        "y": 2065.503662109375,
                        "z": 360.8052673339844
                    },
                    "rotation": {
                        "roll": -0.013061522506177425,
                        "pitch": -1.0782750844955444,
                        "yaw": 0.3196921944618225
                    }
                },
                "velocity": {
                    "x": 1.137839913368225,
                    "y": -8.559895650250837e-05,
                    "z": -0.017413577064871788
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0318446159362793,
                "transform": {
                    "location": {
                        "x": 1973.1636962890625,
                        "y": 2065.1943359375,
                        "z": 360.5760192871094
                    },
                    "rotation": {
                        "roll": 0.06716545671224594,
                        "pitch": -1.001435399055481,
                        "yaw": -3.7385261058807373
                    }
                },
                "velocity": {
                    "x": 3.016230821609497,
                    "y": -0.30266937613487244,
                    "z": -0.05313542112708092
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0519225624157116e-05,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 2.4057328118942678e-05,
                    "y": 7.65024742577225e-06,
                    "z": 4.375969365355559e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014906731666997075,
                "transform": {
                    "location": {
                        "x": 1881.56591796875,
                        "y": 2062.937255859375,
                        "z": 361.6982421875
                    },
                    "rotation": {
                        "roll": -6.103517807787284e-05,
                        "pitch": 0.47432246804237366,
                        "yaw": 179.7942352294922
                    }
                },
                "velocity": {
                    "x": 2.449788007652387e-05,
                    "y": 2.0497222067206167e-05,
                    "z": 0.0014903309056535363
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.46233081817626953,
        "expert_target_speed": 10.0,
        "target_point": [
            16.060056331352207,
            0.7160155660933465
        ],
        "target_point_next": [
            19.060067155008227,
            0.7089125710212548
        ]
    },
    "450": {
        "acceleration": [
            -0.6617164611816406,
            0.01646481454372406,
            0.008506476879119873
        ],
        "angular_velocity": [
            0.05560847744345665,
            0.09893296658992767,
            1.712623119354248
        ],
        "forward_vector": [
            -0.9999017715454102,
            0.0011511233169585466,
            0.013967535458505154
        ],
        "right_vector": [
            -0.0011522199492901564,
            -0.9999993443489075,
            -7.04608391970396e-05
        ],
        "location": [
            1935.84912109375,
            2063.49072265625,
            361.13671875
        ],
        "rotation": [
            0.004037502687424421,
            0.8003068566322327,
            179.9340362548828
        ],
        "velocity": [
            -10.605843544006348,
            0.014506285078823566,
            0.1348271369934082
        ],
        "speed": 10.605853464584918,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.84494400024414,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                1.860484371718485e-05,
                -2.466274509060895e-06,
                -0.0001380710891680792
            ],
            "speed_kmh": 0.00050162674874199,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.725671291351318,
                "transform": {
                    "location": {
                        "x": 1968.052490234375,
                        "y": 2062.576904296875,
                        "z": 360.6631164550781
                    },
                    "rotation": {
                        "roll": 0.006916828453540802,
                        "pitch": 1.5010911226272583,
                        "yaw": -179.63136291503906
                    }
                },
                "velocity": {
                    "x": -6.7245774269104,
                    "y": -0.03844935819506645,
                    "z": 0.11504273861646652
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.601088523864746,
                "transform": {
                    "location": {
                        "x": 1928.76318359375,
                        "y": 2065.59375,
                        "z": 361.2301940917969
                    },
                    "rotation": {
                        "roll": 0.005136565305292606,
                        "pitch": -0.7512456178665161,
                        "yaw": 0.07361327111721039
                    }
                },
                "velocity": {
                    "x": 7.600494861602783,
                    "y": 0.00557210948318243,
                    "z": -0.09485071897506714
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3688411712646484,
                "transform": {
                    "location": {
                        "x": 1945.25537109375,
                        "y": 2065.541748046875,
                        "z": 361.0121765136719
                    },
                    "rotation": {
                        "roll": -0.0016174317570403218,
                        "pitch": -0.5615507960319519,
                        "yaw": -0.11273193359375
                    }
                },
                "velocity": {
                    "x": 2.3686256408691406,
                    "y": -0.0034259145613759756,
                    "z": -0.031762607395648956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2025041580200195,
                "transform": {
                    "location": {
                        "x": 1960.0902099609375,
                        "y": 2065.503662109375,
                        "z": 360.7986755371094
                    },
                    "rotation": {
                        "roll": -0.006072997581213713,
                        "pitch": -0.8177102208137512,
                        "yaw": 0.22358329594135284
                    }
                },
                "velocity": {
                    "x": 2.202234983444214,
                    "y": -0.0018547624349594116,
                    "z": -0.03438413888216019
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7380406856536865,
                "transform": {
                    "location": {
                        "x": 1974.0040283203125,
                        "y": 2065.1025390625,
                        "z": 360.5611572265625
                    },
                    "rotation": {
                        "roll": 0.10041464865207672,
                        "pitch": -1.0022550821304321,
                        "yaw": -5.128329277038574
                    }
                },
                "velocity": {
                    "x": 3.695891857147217,
                    "y": -0.5559288263320923,
                    "z": -0.06538674980401993
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00013934075832366943,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 1.860484371718485e-05,
                    "y": -2.466274509060895e-06,
                    "z": -0.0001380710891680792
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9962601065635681,
                "transform": {
                    "location": {
                        "x": 1881.4403076171875,
                        "y": 2062.936279296875,
                        "z": 361.69915771484375
                    },
                    "rotation": {
                        "roll": -0.0020751943811774254,
                        "pitch": 0.5301114320755005,
                        "yaw": 179.8210906982422
                    }
                },
                "velocity": {
                    "x": -0.9960873126983643,
                    "y": -0.014436283148825169,
                    "z": 0.01165659911930561
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.45108088850975037,
        "expert_target_speed": 10.0,
        "target_point": [
            13.426797433380026,
            0.7156510068613525
        ],
        "target_point_next": [
            16.426807810965748,
            0.708362044640382
        ]
    },
    "455": {
        "acceleration": [
            -0.7708358764648438,
            0.011070705950260162,
            0.028338134288787842
        ],
        "angular_velocity": [
            -0.006852160207927227,
            0.09126804023981094,
            -1.747920036315918
        ],
        "forward_vector": [
            -0.9998953342437744,
            0.0016996607882902026,
            0.01436958834528923
        ],
        "right_vector": [
            -0.0017008355353027582,
            -0.9999985694885254,
            -6.953880074433982e-05
        ],
        "location": [
            1933.17431640625,
            2063.49462890625,
            361.1707763671875
        ],
        "rotation": [
            0.003984691109508276,
            0.8233451247215271,
            179.90260314941406
        ],
        "velocity": [
            -10.790173530578613,
            0.01740170270204544,
            0.13856065273284912
        ],
        "speed": 10.790187562746825,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.17024230957031,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                1.2259333743713796e-05,
                -2.074876829283312e-05,
                -0.00025523625663481653
            ],
            "speed_kmh": 0.0009229374234378001,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036846160888672,
                "transform": {
                    "location": {
                        "x": 1966.203857421875,
                        "y": 2062.569091796875,
                        "z": 360.69427490234375
                    },
                    "rotation": {
                        "roll": 0.03436044231057167,
                        "pitch": 1.5921443700790405,
                        "yaw": -179.78662109375
                    }
                },
                "velocity": {
                    "x": -8.035710334777832,
                    "y": -0.015519164502620697,
                    "z": 0.13420119881629944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.843225955963135,
                "transform": {
                    "location": {
                        "x": 1930.4884033203125,
                        "y": 2065.593994140625,
                        "z": 361.2083435058594
                    },
                    "rotation": {
                        "roll": 0.002945900894701481,
                        "pitch": -0.945004403591156,
                        "yaw": -0.006561279296875
                    }
                },
                "velocity": {
                    "x": 5.842757225036621,
                    "y": -0.0026236760895699263,
                    "z": -0.0739576667547226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7156925201416016,
                "transform": {
                    "location": {
                        "x": 1945.8626708984375,
                        "y": 2065.541748046875,
                        "z": 361.00433349609375
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.6518527269363403,
                        "yaw": -0.1097717136144638
                    }
                },
                "velocity": {
                    "x": 2.7154388427734375,
                    "y": -0.00400053383782506,
                    "z": -0.03689891844987869
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001821651472710073,
                "transform": {
                    "location": {
                        "x": 1960.4505615234375,
                        "y": 2065.50341796875,
                        "z": 360.79254150390625
                    },
                    "rotation": {
                        "roll": -0.00970458984375,
                        "pitch": -1.1898735761642456,
                        "yaw": 0.14735907316207886
                    }
                },
                "velocity": {
                    "x": 0.0016255875816568732,
                    "y": 0.00041173669160343707,
                    "z": -0.0007115841726772487
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.4898295402526855,
                "transform": {
                    "location": {
                        "x": 1975.021484375,
                        "y": 2064.94140625,
                        "z": 360.54327392578125
                    },
                    "rotation": {
                        "roll": 0.1524963676929474,
                        "pitch": -1.0122681856155396,
                        "yaw": -7.586158275604248
                    }
                },
                "velocity": {
                    "x": 4.392273902893066,
                    "y": -0.9275293350219727,
                    "z": -0.07865557819604874
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00025637150974944234,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 1.2259333743713796e-05,
                    "y": -2.074876829283312e-05,
                    "z": -0.00025523625663481653
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1778467893600464,
                "transform": {
                    "location": {
                        "x": 1881.1649169921875,
                        "y": 2062.93505859375,
                        "z": 361.7017822265625
                    },
                    "rotation": {
                        "roll": 0.0011636593844741583,
                        "pitch": 0.49428027868270874,
                        "yaw": 179.93252563476562
                    }
                },
                "velocity": {
                    "x": -1.1777619123458862,
                    "y": -0.010097086429595947,
                    "z": 0.009905185550451279
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4457740783691406,
        "expert_target_speed": 10.0,
        "target_point": [
            10.751595514937,
            0.7223742421674977
        ],
        "target_point_next": [
            13.75160943846368,
            0.7167303748464637
        ]
    },
    "460": {
        "acceleration": [
            -0.8624267578125,
            0.01652933657169342,
            -0.004728138446807861
        ],
        "angular_velocity": [
            -0.03159063681960106,
            -0.08149753510951996,
            1.5374325513839722
        ],
        "forward_vector": [
            -0.9998950958251953,
            0.0016650931211188436,
            0.014387587085366249
        ],
        "right_vector": [
            -0.001666645985096693,
            -0.9999986290931702,
            -9.593377762939781e-05
        ],
        "location": [
            1930.4503173828125,
            2063.4990234375,
            361.20538330078125
        ],
        "rotation": [
            0.005497169680893421,
            0.8243764638900757,
            179.9045867919922
        ],
        "velocity": [
            -10.998311996459961,
            0.02049042470753193,
            0.13858869671821594
        ],
        "speed": 10.998331083804478,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 38.4463996887207,
        "front_vehicle_info": {
            "id": 5122,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                1892.0108642578125,
                2062.899658203125,
                361.6236267089844
            ],
            "velocity": [
                1.686505856923759e-05,
                -3.747812229448755e-07,
                -3.761550033232197e-06
            ],
            "speed_kmh": 6.222065706251972e-05,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 5136,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.182765007019043,
                "transform": {
                    "location": {
                        "x": 1964.105224609375,
                        "y": 2062.566162109375,
                        "z": 360.7291564941406
                    },
                    "rotation": {
                        "roll": 0.027789590880274773,
                        "pitch": 1.50394606590271,
                        "yaw": -179.88296508789062
                    }
                },
                "velocity": {
                    "x": -9.181532859802246,
                    "y": -0.007508470211178064,
                    "z": 0.15027959644794464
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5135,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2878994941711426,
                "transform": {
                    "location": {
                        "x": 1931.3087158203125,
                        "y": 2065.59326171875,
                        "z": 361.1971435546875
                    },
                    "rotation": {
                        "roll": 0.009291398338973522,
                        "pitch": -1.3981260061264038,
                        "yaw": -0.3929442763328552
                    }
                },
                "velocity": {
                    "x": 1.2877899408340454,
                    "y": -0.002011912874877453,
                    "z": -0.01667969673871994
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5134,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.040279865264893,
                "transform": {
                    "location": {
                        "x": 1946.7083740234375,
                        "y": 2065.53955078125,
                        "z": 360.9918212890625
                    },
                    "rotation": {
                        "roll": -0.003509521484375,
                        "pitch": -0.37838563323020935,
                        "yaw": -0.0955505222082138
                    }
                },
                "velocity": {
                    "x": 4.039908409118652,
                    "y": -0.0057616084814071655,
                    "z": -0.0544726736843586
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5131,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3046475648880005,
                "transform": {
                    "location": {
                        "x": 1960.6510009765625,
                        "y": 2065.50341796875,
                        "z": 360.7897033691406
                    },
                    "rotation": {
                        "roll": -0.006042479537427425,
                        "pitch": -0.8691346645355225,
                        "yaw": 0.09624756872653961
                    }
                },
                "velocity": {
                    "x": 1.3044745922088623,
                    "y": -0.0018473584204912186,
                    "z": -0.02116135135293007
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5128,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.26611328125,
                "transform": {
                    "location": {
                        "x": 1976.2137451171875,
                        "y": 2064.670654296875,
                        "z": 360.5219421386719
                    },
                    "rotation": {
                        "roll": 0.22469112277030945,
                        "pitch": -0.9998167157173157,
                        "yaw": -11.383408546447754
                    }
                },
                "velocity": {
                    "x": 5.060178756713867,
                    "y": -1.4556814432144165,
                    "z": -0.08676155656576157
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5122,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7283517081523314e-05,
                "transform": {
                    "location": {
                        "x": 1892.0108642578125,
                        "y": 2062.899658203125,
                        "z": 361.6236267089844
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.5142380595207214,
                        "yaw": 179.79415893554688
                    }
                },
                "velocity": {
                    "x": 1.686505856923759e-05,
                    "y": -3.747812229448755e-07,
                    "z": -3.761550033232197e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5121,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6223320960998535,
                "transform": {
                    "location": {
                        "x": 1880.705322265625,
                        "y": 2062.932373046875,
                        "z": 361.70501708984375
                    },
                    "rotation": {
                        "roll": -0.0010681153507903218,
                        "pitch": 0.5558817386627197,
                        "yaw": -179.9264678955078
                    }
                },
                "velocity": {
                    "x": -2.6221208572387695,
                    "y": -0.025596844032406807,
                    "z": 0.021268080919981003
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4322790205478668,
        "expert_target_speed": 0,
        "target_point": [
            8.027617744806097,
            0.7218639021360969
        ],
        "target_point_next": [
            11.027631472797903,
            0.7161170375142111
        ]
    }
}