{
    "0": {
        "acceleration": [
            -0.0003339118848089129,
            -0.0021972600370645523,
            -0.12196056544780731
        ],
        "angular_velocity": [
            0.028121091425418854,
            -0.006644628010690212,
            -8.486644219374284e-05
        ],
        "forward_vector": [
            -0.999972403049469,
            0.0059099760837852955,
            0.00450418796390295
        ],
        "right_vector": [
            -0.005909887608140707,
            -0.9999825358390808,
            3.302285404060967e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4188537597656
        ],
        "rotation": [
            -0.0018920892616733909,
            0.2580718398094177,
            179.661376953125
        ],
        "velocity": [
            6.943997141206637e-05,
            -0.00019126382539980114,
            0.018893197178840637
        ],
        "speed": 0.00020347914029765854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0003036959969904274,
        "expert_target_speed": 1.2169285227658821,
        "target_point": [
            50.999163732959516,
            -0.0003592170251114357
        ],
        "target_point_next": [
            101.99917238190014,
            -0.00022515083930241264
        ]
    },
    "5": {
        "acceleration": [
            0.00023714899725746363,
            -0.0014192273374646902,
            -0.027485070750117302
        ],
        "angular_velocity": [
            0.012651333585381508,
            -0.002892971271649003,
            1.7722371694617323e-06
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005909261293709278,
            0.004492863547056913
        ],
        "right_vector": [
            -0.005909220315515995,
            -0.9999825358390808,
            2.2370320948539302e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4212951660156
        ],
        "rotation": [
            -0.0012817379320040345,
            0.2574229836463928,
            179.6614227294922
        ],
        "velocity": [
            1.9553042875486426e-05,
            -2.274604412377812e-05,
            0.004603622481226921
        ],
        "speed": 2.999506641051944e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.999587059020996,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.478124618530273,
                4291.25537109375,
                372.4775390625
            ],
            "velocity": [
                -0.0021205374505370855,
                -2.5817175810516346e-06,
                -0.5044171214103699
            ],
            "speed_kmh": 1.8159176833181012,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -87.58781433105469,
                        "y": 4301.384765625,
                        "z": 372.9459228515625
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -87.6070327758789,
                        "y": 4298.134765625,
                        "z": 372.9459228515625
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43513649702072144,
                "transform": {
                    "location": {
                        "x": 21.521093368530273,
                        "y": 4290.9892578125,
                        "z": 372.2965087890625
                    },
                    "rotation": {
                        "roll": 0.00043401645962148905,
                        "pitch": 0.27310508489608765,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.001966088777408004,
                    "y": 9.34523359319428e-06,
                    "z": -0.43513205647468567
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6362441778182983,
                "transform": {
                    "location": {
                        "x": 6.521015644073486,
                        "y": 4291.078125,
                        "z": 372.3824462890625
                    },
                    "rotation": {
                        "roll": 0.0004818566085305065,
                        "pitch": 0.26365211606025696,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": -0.0029730398673564196,
                    "y": 8.878352673491463e-05,
                    "z": -0.6362372040748596
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.504421591758728,
                "transform": {
                    "location": {
                        "x": -23.478124618530273,
                        "y": 4291.25537109375,
                        "z": 372.4775390625
                    },
                    "rotation": {
                        "roll": 0.0005027608713135123,
                        "pitch": 0.24115347862243652,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": -0.0021205374505370855,
                    "y": -2.5817175810516346e-06,
                    "z": -0.5044171214103699
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5038925409317017,
                "transform": {
                    "location": {
                        "x": -38.47789001464844,
                        "y": 4291.34423828125,
                        "z": 372.5402526855469
                    },
                    "rotation": {
                        "roll": 0.000762019888497889,
                        "pitch": 0.2391522377729416,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.002092059701681137,
                    "y": -2.7062598746852018e-05,
                    "z": -0.5038881897926331
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.41446763277053833,
                "transform": {
                    "location": {
                        "x": 21.540390014648438,
                        "y": 4294.2392578125,
                        "z": 372.27764892578125
                    },
                    "rotation": {
                        "roll": 5.9565390984062105e-05,
                        "pitch": 0.27149316668510437,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0019413369009271264,
                    "y": 9.360680996906012e-05,
                    "z": -0.414463073015213
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4345903992652893,
                "transform": {
                    "location": {
                        "x": 6.540546894073486,
                        "y": 4294.328125,
                        "z": 372.3664245605469
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 0.2634335458278656,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": -0.0020376169122755527,
                    "y": -5.4709631513105705e-05,
                    "z": -0.4345856308937073
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4346223473548889,
                "transform": {
                    "location": {
                        "x": -23.458906173706055,
                        "y": 4294.50537109375,
                        "z": 372.498046875
                    },
                    "rotation": {
                        "roll": 0.0004313784302212298,
                        "pitch": 0.24396751821041107,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -0.0017379863420501351,
                    "y": 5.55941769562196e-05,
                    "z": -0.43461886048316956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45484766364097595,
                "transform": {
                    "location": {
                        "x": -38.45867156982422,
                        "y": 4294.59423828125,
                        "z": 372.54925537109375
                    },
                    "rotation": {
                        "roll": -9.155279258266091e-05,
                        "pitch": 0.23794329166412354,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0018916120752692223,
                    "y": -8.686878913977125e-07,
                    "z": -0.4548437297344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0016372761456295848,
        "expert_target_speed": 1.01100833109403,
        "target_point": [
            50.99916373259374,
            -0.00040785361772149864
        ],
        "target_point_next": [
            101.99917238163903,
            -0.00032242483029754077
        ]
    },
    "10": {
        "acceleration": [
            0.00046322267735376954,
            0.003270568558946252,
            0.0007993588224053383
        ],
        "angular_velocity": [
            -0.004584589973092079,
            0.004246245604008436,
            8.203931065509096e-05
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005909261293709278,
            0.004493459593504667
        ],
        "right_vector": [
            -0.005909189116209745,
            -0.9999825358390808,
            2.9294469641172327e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4216613769531
        ],
        "rotation": [
            -0.0016784663312137127,
            0.2574571371078491,
            179.6614227294922
        ],
        "velocity": [
            3.0063538360991515e-05,
            1.8090087905875407e-05,
            0.00171972019597888
        ],
        "speed": 3.5086573204362775e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.999556541442871,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.478124618530273,
                4291.25537109375,
                372.46905517578125
            ],
            "velocity": [
                0.00044389528920874,
                -2.516975291655399e-05,
                0.10291092842817307
            ],
            "speed_kmh": 0.37048279985681754,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -85.51429748535156,
                        "y": 4301.37255859375,
                        "z": 372.765380859375
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -85.53351593017578,
                        "y": 4298.12255859375,
                        "z": 372.765380859375
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02777613140642643,
                "transform": {
                    "location": {
                        "x": 21.521093368530273,
                        "y": 4290.9892578125,
                        "z": 372.2723083496094
                    },
                    "rotation": {
                        "roll": 0.00013140520604792982,
                        "pitch": 0.2749629020690918,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0001464733068132773,
                    "y": 0.00012918234278913587,
                    "z": 0.027775444090366364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.06108631193637848,
                "transform": {
                    "location": {
                        "x": 6.521015644073486,
                        "y": 4291.078125,
                        "z": 372.3260498046875
                    },
                    "rotation": {
                        "roll": 0.0011009867303073406,
                        "pitch": 0.2644580900669098,
                        "yaw": 179.66253662109375
                    }
                },
                "velocity": {
                    "x": 0.000299151724902913,
                    "y": -4.548394372250186e-06,
                    "z": 0.06108558177947998
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10291188955307007,
                "transform": {
                    "location": {
                        "x": -23.478124618530273,
                        "y": 4291.25537109375,
                        "z": 372.46905517578125
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.24111932516098022,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.00044389528920874,
                    "y": -2.516975291655399e-05,
                    "z": 0.10291092842817307
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1025838851928711,
                "transform": {
                    "location": {
                        "x": -38.47789001464844,
                        "y": 4291.34423828125,
                        "z": 372.5318298339844
                    },
                    "rotation": {
                        "roll": 0.0005590745131485164,
                        "pitch": 0.23937763273715973,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00043659491348080337,
                    "y": -5.4309719416778535e-05,
                    "z": 0.10258293896913528
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0513073094189167,
                "transform": {
                    "location": {
                        "x": 21.540390014648438,
                        "y": 4294.2392578125,
                        "z": 372.2688903808594
                    },
                    "rotation": {
                        "roll": 9.95925729512237e-05,
                        "pitch": 0.2715136706829071,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0002579904394224286,
                    "y": 4.113734030397609e-05,
                    "z": 0.051306646317243576
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02759953960776329,
                "transform": {
                    "location": {
                        "x": 6.540546894073486,
                        "y": 4294.328125,
                        "z": 372.34228515625
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.2653733193874359,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": 0.00015842451830394566,
                    "y": -0.00016695554950274527,
                    "z": 0.027598580345511436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027684258297085762,
                "transform": {
                    "location": {
                        "x": -23.458906173706055,
                        "y": 4294.50537109375,
                        "z": 372.4739074707031
                    },
                    "rotation": {
                        "roll": 0.0010399193270131946,
                        "pitch": 0.2452857345342636,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": 0.00014754291623830795,
                    "y": 0.00022685225121676922,
                    "z": 0.027682935819029808
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09461547434329987,
                "transform": {
                    "location": {
                        "x": -38.45867156982422,
                        "y": 4294.59423828125,
                        "z": 372.5421142578125
                    },
                    "rotation": {
                        "roll": 0.00018955589621327817,
                        "pitch": 0.23786816000938416,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.000402125675464049,
                    "y": 4.574087506625801e-05,
                    "z": 0.09461461007595062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0023293939884752035,
        "expert_target_speed": 1.0071521165723059,
        "target_point": [
            50.99916373259374,
            -0.00040785361772149864
        ],
        "target_point_next": [
            101.99917238163903,
            -0.00032242483029754077
        ]
    },
    "15": {
        "acceleration": [
            8.879596862243488e-06,
            -0.0005607116618193686,
            0.01340312696993351
        ],
        "angular_velocity": [
            0.0052648549899458885,
            -0.0011006284039467573,
            3.930799357476644e-05
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005909261293709278,
            0.00449274480342865
        ],
        "right_vector": [
            -0.0059092226438224316,
            -0.9999825358390808,
            2.1837699023308232e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.421875
        ],
        "rotation": [
            -0.0012512205867096782,
            0.25741615891456604,
            179.6614227294922
        ],
        "velocity": [
            8.258707566710655e-06,
            -2.9082231776556e-05,
            0.0007454885635524988
        ],
        "speed": 3.0232142758623104e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.999612808227539,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.478124618530273,
                4291.25537109375,
                372.484375
            ],
            "velocity": [
                0.00010879724868573248,
                -0.000113728987344075,
                0.023504700511693954
            ],
            "speed_kmh": 0.08461881880407748,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.43109130859375,
                        "y": 4301.3603515625,
                        "z": 372.7493591308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.45030975341797,
                        "y": 4298.1103515625,
                        "z": 372.7493591308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9191165566444397,
                "transform": {
                    "location": {
                        "x": 21.450702667236328,
                        "y": 4290.9892578125,
                        "z": 372.2795104980469
                    },
                    "rotation": {
                        "roll": -0.009674072265625,
                        "pitch": 0.4965410530567169,
                        "yaw": 179.70877075195312
                    }
                },
                "velocity": {
                    "x": -0.9186638593673706,
                    "y": -0.005539909936487675,
                    "z": 0.028305338695645332
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.13964374363422394,
                "transform": {
                    "location": {
                        "x": 6.513827800750732,
                        "y": 4291.078125,
                        "z": 372.3576965332031
                    },
                    "rotation": {
                        "roll": -5.211081913203408e-11,
                        "pitch": 0.278637558221817,
                        "yaw": 179.66502380371094
                    }
                },
                "velocity": {
                    "x": -0.08198139071464539,
                    "y": -0.0009470978984609246,
                    "z": 0.11304216086864471
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023505227640271187,
                "transform": {
                    "location": {
                        "x": -23.478124618530273,
                        "y": 4291.25537109375,
                        "z": 372.484375
                    },
                    "rotation": {
                        "roll": 0.0005260130274109542,
                        "pitch": 0.24121494591236115,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.00010879724868573248,
                    "y": -0.000113728987344075,
                    "z": 0.023504700511693954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023225747048854828,
                "transform": {
                    "location": {
                        "x": -38.47789001464844,
                        "y": 4291.34423828125,
                        "z": 372.5471496582031
                    },
                    "rotation": {
                        "roll": 0.0007246143650263548,
                        "pitch": 0.23943227529525757,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00010612777987262234,
                    "y": -5.988134944345802e-05,
                    "z": 0.02322542667388916
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0726444721221924,
                "transform": {
                    "location": {
                        "x": 21.448436737060547,
                        "y": 4294.23828125,
                        "z": 372.27667236328125
                    },
                    "rotation": {
                        "roll": -0.002593993442133069,
                        "pitch": 0.33562180399894714,
                        "yaw": 179.62527465820312
                    }
                },
                "velocity": {
                    "x": -1.0723069906234741,
                    "y": -0.01008594036102295,
                    "z": 0.02494649775326252
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9301963448524475,
                "transform": {
                    "location": {
                        "x": 6.473984241485596,
                        "y": 4294.32763671875,
                        "z": 372.3495178222656
                    },
                    "rotation": {
                        "roll": -0.007568356115370989,
                        "pitch": 0.4794519245624542,
                        "yaw": 179.6610107421875
                    }
                },
                "velocity": {
                    "x": -0.9297682642936707,
                    "y": -0.004263808485120535,
                    "z": 0.027892788872122765
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9047484993934631,
                "transform": {
                    "location": {
                        "x": -23.525312423706055,
                        "y": 4294.50537109375,
                        "z": 372.4811096191406
                    },
                    "rotation": {
                        "roll": -0.006011961493641138,
                        "pitch": 0.4561541676521301,
                        "yaw": 179.7285614013672
                    }
                },
                "velocity": {
                    "x": -0.9043338298797607,
                    "y": -0.001543268677778542,
                    "z": 0.027345972135663033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02075790986418724,
                "transform": {
                    "location": {
                        "x": -38.45867156982422,
                        "y": 4294.59423828125,
                        "z": 372.5560607910156
                    },
                    "rotation": {
                        "roll": -3.051761450478807e-05,
                        "pitch": 0.23788180947303772,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00010143458348466083,
                    "y": -3.494069096632302e-05,
                    "z": 0.020757632330060005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0008261962211690843,
        "expert_target_speed": 1.0059995015485999,
        "target_point": [
            50.99916373259374,
            -0.00040785361772149864
        ],
        "target_point_next": [
            101.99917238163903,
            -0.00032242483029754077
        ]
    },
    "20": {
        "acceleration": [
            0.00045061929267831147,
            0.0005844582337886095,
            0.00880444422364235
        ],
        "angular_velocity": [
            -0.007962141185998917,
            0.0024159864988178015,
            9.630076237954199e-05
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005909261293709278,
            0.00449274480342865
        ],
        "right_vector": [
            -0.0059092226438224316,
            -0.9999825358390808,
            2.1837699023308232e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4219055175781
        ],
        "rotation": [
            -0.0012512205867096782,
            0.25741615891456604,
            179.6614227294922
        ],
        "velocity": [
            2.4760885935393162e-05,
            1.950009936990682e-05,
            0.0018860691925510764
        ],
        "speed": 3.1517540318714456e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.206644058227539,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.685155868530273,
                4291.2548828125,
                372.4865417480469
            ],
            "velocity": [
                -1.9522236585617065,
                -0.013972568325698376,
                0.007683820556849241
            ],
            "speed_kmh": 7.0282396138068455,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -81.34788513183594,
                        "y": 4301.34814453125,
                        "z": 372.73345947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -81.36711120605469,
                        "y": 4298.09814453125,
                        "z": 372.73345947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8186484575271606,
                "transform": {
                    "location": {
                        "x": 21.090858459472656,
                        "y": 4290.9873046875,
                        "z": 372.28424072265625
                    },
                    "rotation": {
                        "roll": -0.012573241256177425,
                        "pitch": 0.6536080837249756,
                        "yaw": 179.8009033203125
                    }
                },
                "velocity": {
                    "x": -1.818544626235962,
                    "y": -0.0104379178956151,
                    "z": 0.016391800716519356
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.758345901966095,
                "transform": {
                    "location": {
                        "x": 6.414531230926514,
                        "y": 4291.07763671875,
                        "z": 372.3687438964844
                    },
                    "rotation": {
                        "roll": -0.006591796875,
                        "pitch": 0.4051668047904968,
                        "yaw": 179.65170288085938
                    }
                },
                "velocity": {
                    "x": -0.758327305316925,
                    "y": -0.00530595937743783,
                    "z": 0.0002044772991212085
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9522888660430908,
                "transform": {
                    "location": {
                        "x": -23.685155868530273,
                        "y": 4291.2548828125,
                        "z": 372.4865417480469
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.74838256835938
                    }
                },
                "velocity": {
                    "x": -1.9522236585617065,
                    "y": -0.013972568325698376,
                    "z": 0.007683820556849241
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9748929738998413,
                "transform": {
                    "location": {
                        "x": -38.68734359741211,
                        "y": 4291.34326171875,
                        "z": 372.54925537109375
                    },
                    "rotation": {
                        "roll": 4.285724207875319e-05,
                        "pitch": 0.2790473699569702,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": -1.974836826324463,
                    "y": -0.013461309485137463,
                    "z": 0.006352128926664591
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5128943920135498,
                "transform": {
                    "location": {
                        "x": 21.160234451293945,
                        "y": 4294.2373046875,
                        "z": 372.27984619140625
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.30788442492485046,
                        "yaw": 179.7781219482422
                    }
                },
                "velocity": {
                    "x": -1.5128237009048462,
                    "y": -0.011680041439831257,
                    "z": 0.008799009025096893
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.84540593624115,
                "transform": {
                    "location": {
                        "x": 6.114921569824219,
                        "y": 4294.32666015625,
                        "z": 372.35400390625
                    },
                    "rotation": {
                        "roll": -0.012969969771802425,
                        "pitch": 0.6547009348869324,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": -1.8452938795089722,
                    "y": -0.01141086034476757,
                    "z": 0.01683502085506916
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8266820907592773,
                "transform": {
                    "location": {
                        "x": -23.879764556884766,
                        "y": 4294.50390625,
                        "z": 372.48553466796875
                    },
                    "rotation": {
                        "roll": -0.012756348587572575,
                        "pitch": 0.6208915114402771,
                        "yaw": 179.8477020263672
                    }
                },
                "velocity": {
                    "x": -1.8265769481658936,
                    "y": -0.01196365524083376,
                    "z": 0.015531806275248528
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.188015937805176,
                "transform": {
                    "location": {
                        "x": -38.690467834472656,
                        "y": 4294.59326171875,
                        "z": 372.5599670410156
                    },
                    "rotation": {
                        "roll": 0.006174152251332998,
                        "pitch": 0.04867875576019287,
                        "yaw": 179.75973510742188
                    }
                },
                "velocity": {
                    "x": -2.1879310607910156,
                    "y": -0.017680589109659195,
                    "z": 0.00769087765365839
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0002572865632828325,
        "expert_target_speed": 1.0194016694238854,
        "target_point": [
            50.99916373259374,
            -0.00040785361772149864
        ],
        "target_point_next": [
            101.99917238163903,
            -0.00032242483029754077
        ]
    },
    "25": {
        "acceleration": [
            -5.833062459714711e-06,
            0.0019307713955640793,
            0.0034837895072996616
        ],
        "angular_velocity": [
            -0.014832667075097561,
            -0.008339046500623226,
            0.0001286295591853559
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.00590806920081377,
            0.004493221640586853
        ],
        "right_vector": [
            -0.005908021237701178,
            -0.9999825358390808,
            2.3968201276147738e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.42193603515625
        ],
        "rotation": [
            -0.0013732906663790345,
            0.25744348764419556,
            179.66148376464844
        ],
        "velocity": [
            -1.5728510334156454e-05,
            4.7484227252425626e-05,
            0.0006301128887571394
        ],
        "speed": 5.002137418235995e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.843107223510742,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -24.321640014648438,
                4291.251953125,
                372.4890441894531
            ],
            "velocity": [
                -2.9923055171966553,
                -0.021088402718305588,
                0.010732783935964108
            ],
            "speed_kmh": 10.772636668535236,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -79.26468658447266,
                        "y": 4301.33544921875,
                        "z": 372.7232360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -79.28390502929688,
                        "y": 4298.08544921875,
                        "z": 372.7232360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.974696636199951,
                "transform": {
                    "location": {
                        "x": 20.492733001708984,
                        "y": 4290.984375,
                        "z": 372.2878723144531
                    },
                    "rotation": {
                        "roll": -0.013397215865552425,
                        "pitch": 0.7285489439964294,
                        "yaw": 179.98468017578125
                    }
                },
                "velocity": {
                    "x": -2.9745967388153076,
                    "y": -0.01964750327169895,
                    "z": 0.014463910833001137
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8127995729446411,
                "transform": {
                    "location": {
                        "x": 6.11046838760376,
                        "y": 4291.076171875,
                        "z": 372.3647155761719
                    },
                    "rotation": {
                        "roll": -0.008209227584302425,
                        "pitch": 0.4971626102924347,
                        "yaw": 179.7430419921875
                    }
                },
                "velocity": {
                    "x": -1.8127312660217285,
                    "y": -0.010985588654875755,
                    "z": -0.011286688037216663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.992399215698242,
                "transform": {
                    "location": {
                        "x": -24.321640014648438,
                        "y": 4291.251953125,
                        "z": 372.4890441894531
                    },
                    "rotation": {
                        "roll": 0.0006740101962350309,
                        "pitch": 0.27186882495880127,
                        "yaw": 179.90284729003906
                    }
                },
                "velocity": {
                    "x": -2.9923055171966553,
                    "y": -0.021088402718305588,
                    "z": 0.010732783935964108
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9742939472198486,
                "transform": {
                    "location": {
                        "x": -39.323123931884766,
                        "y": 4291.34033203125,
                        "z": 372.5516357421875
                    },
                    "rotation": {
                        "roll": 0.0005547068431042135,
                        "pitch": 0.26863133907318115,
                        "yaw": 179.8732452392578
                    }
                },
                "velocity": {
                    "x": -2.974198818206787,
                    "y": -0.02113390900194645,
                    "z": 0.010922985151410103
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4567723274230957,
                "transform": {
                    "location": {
                        "x": 20.663984298706055,
                        "y": 4294.234375,
                        "z": 372.2821044921875
                    },
                    "rotation": {
                        "roll": 0.0006363526917994022,
                        "pitch": 0.3410518169403076,
                        "yaw": 179.93771362304688
                    }
                },
                "velocity": {
                    "x": -2.4566562175750732,
                    "y": -0.020940883085131645,
                    "z": 0.01150880753993988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9852333068847656,
                "transform": {
                    "location": {
                        "x": 5.512343406677246,
                        "y": 4294.3232421875,
                        "z": 372.3576965332031
                    },
                    "rotation": {
                        "roll": -0.01336669921875,
                        "pitch": 0.7188910245895386,
                        "yaw": 179.97988891601562
                    }
                },
                "velocity": {
                    "x": -2.985133647918701,
                    "y": -0.01969112828373909,
                    "z": 0.014340238645672798
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.990513801574707,
                "transform": {
                    "location": {
                        "x": -24.481170654296875,
                        "y": 4294.50048828125,
                        "z": 372.48883056640625
                    },
                    "rotation": {
                        "roll": -0.01266479305922985,
                        "pitch": 0.7068426012992859,
                        "yaw": -179.99636840820312
                    }
                },
                "velocity": {
                    "x": -2.990415334701538,
                    "y": -0.019929077476263046,
                    "z": 0.013865623623132706
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.337153196334839,
                "transform": {
                    "location": {
                        "x": -39.39453125,
                        "y": 4294.58935546875,
                        "z": 372.5622253417969
                    },
                    "rotation": {
                        "roll": 0.004252882208675146,
                        "pitch": 0.09498060494661331,
                        "yaw": 179.95828247070312
                    }
                },
                "velocity": {
                    "x": -3.3370137214660645,
                    "y": -0.027477161958813667,
                    "z": 0.013244971632957458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0021485176403075457,
        "expert_target_speed": 1.0404191935267955,
        "target_point": [
            50.99916373218159,
            -0.000456490210331284
        ],
        "target_point_next": [
            101.99917238128516,
            -0.00041969882129244684
        ]
    },
    "30": {
        "acceleration": [
            8.05877207312733e-05,
            -2.2328231352730654e-05,
            0.0033306702971458435
        ],
        "angular_velocity": [
            -0.0014189518988132477,
            0.0009862364968284965,
            7.058377377688885e-05
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.00590806920081377,
            0.004493221640586853
        ],
        "right_vector": [
            -0.005908021237701178,
            -0.9999825358390808,
            2.3968201276147738e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.42193603515625
        ],
        "rotation": [
            -0.0013732906663790345,
            0.25744348764419556,
            179.66148376464844
        ],
        "velocity": [
            1.8023252778220922e-05,
            -5.361642706702696e-06,
            0.0014144682791084051
        ],
        "speed": 1.8803852084665693e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.690031051635742,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -25.16859245300293,
                4291.2470703125,
                372.49261474609375
            ],
            "velocity": [
                -3.7465689182281494,
                -0.029217883944511414,
                0.014546489343047142
            ],
            "speed_kmh": 13.488159901035216,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.950904846191406,
                "transform": {
                    "location": {
                        "x": -77.22406005859375,
                        "y": 4301.32373046875,
                        "z": 372.7142639160156
                    },
                    "rotation": {
                        "roll": -0.003326416015625,
                        "pitch": -0.3820192813873291,
                        "yaw": -0.328094482421875
                    }
                },
                "velocity": {
                    "x": 6.950743198394775,
                    "y": -0.0341501384973526,
                    "z": -0.032777704298496246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.639367580413818,
                "transform": {
                    "location": {
                        "x": -77.32390594482422,
                        "y": 4298.0751953125,
                        "z": 372.71429443359375
                    },
                    "rotation": {
                        "roll": -0.013122557662427425,
                        "pitch": -0.4744522273540497,
                        "yaw": -0.2748717963695526
                    }
                },
                "velocity": {
                    "x": 6.639278411865234,
                    "y": -0.010357456281781197,
                    "z": -0.03282229229807854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.38419246673584,
                "transform": {
                    "location": {
                        "x": 19.560468673706055,
                        "y": 4290.978515625,
                        "z": 372.29193115234375
                    },
                    "rotation": {
                        "roll": -0.012786864303052425,
                        "pitch": 0.849101722240448,
                        "yaw": -179.8249969482422
                    }
                },
                "velocity": {
                    "x": -4.3840250968933105,
                    "y": -0.032364897429943085,
                    "z": 0.020523756742477417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1824347972869873,
                "transform": {
                    "location": {
                        "x": 5.486640453338623,
                        "y": 4291.07373046875,
                        "z": 372.36456298828125
                    },
                    "rotation": {
                        "roll": -0.010162349790334702,
                        "pitch": 0.5835235118865967,
                        "yaw": 179.958251953125
                    }
                },
                "velocity": {
                    "x": -3.1823272705078125,
                    "y": -0.0221551526337862,
                    "z": 0.013872985728085041
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.746711015701294,
                "transform": {
                    "location": {
                        "x": -25.16859245300293,
                        "y": 4291.2470703125,
                        "z": 372.49261474609375
                    },
                    "rotation": {
                        "roll": 0.0014148375485092402,
                        "pitch": 0.26048973202705383,
                        "yaw": -179.909423828125
                    }
                },
                "velocity": {
                    "x": -3.7465689182281494,
                    "y": -0.029217883944511414,
                    "z": 0.014546489343047142
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.742157220840454,
                "transform": {
                    "location": {
                        "x": -40.168983459472656,
                        "y": 4291.3359375,
                        "z": 372.5552673339844
                    },
                    "rotation": {
                        "roll": 0.0013725506141781807,
                        "pitch": 0.258392870426178,
                        "yaw": -179.92176818847656
                    }
                },
                "velocity": {
                    "x": -3.7420170307159424,
                    "y": -0.029144970700144768,
                    "z": 0.014110221527516842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.143682479858398,
                "transform": {
                    "location": {
                        "x": 19.839921951293945,
                        "y": 4294.228515625,
                        "z": 372.2857666015625
                    },
                    "rotation": {
                        "roll": 0.0007330179796554148,
                        "pitch": 0.36999133229255676,
                        "yaw": -179.9777069091797
                    }
                },
                "velocity": {
                    "x": -4.143509387969971,
                    "y": -0.03262218087911606,
                    "z": 0.019206952303647995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.3850932121276855,
                "transform": {
                    "location": {
                        "x": 4.578906059265137,
                        "y": 4294.3173828125,
                        "z": 372.3616027832031
                    },
                    "rotation": {
                        "roll": -0.01385497860610485,
                        "pitch": 0.8366844654083252,
                        "yaw": -179.82546997070312
                    }
                },
                "velocity": {
                    "x": -4.384929180145264,
                    "y": -0.03226296231150627,
                    "z": 0.01994500122964382
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.399281978607178,
                "transform": {
                    "location": {
                        "x": -25.417499542236328,
                        "y": 4294.49462890625,
                        "z": 372.49249267578125
                    },
                    "rotation": {
                        "roll": -0.011688232421875,
                        "pitch": 0.8218356370925903,
                        "yaw": -179.8093719482422
                    }
                },
                "velocity": {
                    "x": -4.399125099182129,
                    "y": -0.03247249126434326,
                    "z": 0.018012991175055504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4639153480529785,
                "transform": {
                    "location": {
                        "x": -40.37507629394531,
                        "y": 4294.58251953125,
                        "z": 372.5660400390625
                    },
                    "rotation": {
                        "roll": 0.004818764515221119,
                        "pitch": 0.12168664485216141,
                        "yaw": -179.84144592285156
                    }
                },
                "velocity": {
                    "x": -4.463717460632324,
                    "y": -0.03764379024505615,
                    "z": 0.01862511597573757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00013965483231004328,
        "expert_target_speed": 1.0641593179705886,
        "target_point": [
            50.99916373218159,
            -0.000456490210331284
        ],
        "target_point_next": [
            101.99917238128516,
            -0.00041969882129244684
        ]
    },
    "35": {
        "acceleration": [
            0.0004408098175190389,
            -0.0012486514169722795,
            0.006831818260252476
        ],
        "angular_velocity": [
            0.00930837169289589,
            0.012634688057005405,
            1.3452900930133183e-05
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.00590806920081377,
            0.004493221640586853
        ],
        "right_vector": [
            -0.005908021237701178,
            -0.9999825358390808,
            2.3968201276147738e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.42193603515625
        ],
        "rotation": [
            -0.0013732906663790345,
            0.25744348764419556,
            179.66148376464844
        ],
        "velocity": [
            5.356199835659936e-05,
            -2.4914796085795388e-05,
            0.0008598800632171333
        ],
        "speed": 5.907313037201531e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.720783233642578,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -26.19937515258789,
                4291.24072265625,
                372.4969177246094
            ],
            "velocity": [
                -4.4749531745910645,
                -0.014504791237413883,
                0.017787236720323563
            ],
            "speed_kmh": 16.11004331640544,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.638293743133545,
                "transform": {
                    "location": {
                        "x": -75.53687286376953,
                        "y": 4301.328125,
                        "z": 372.7063903808594
                    },
                    "rotation": {
                        "roll": -0.02688598819077015,
                        "pitch": -0.3368239402770996,
                        "yaw": 0.17141982913017273
                    }
                },
                "velocity": {
                    "x": 6.638092994689941,
                    "y": 0.04248863458633423,
                    "z": -0.029378555715084076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.856026649475098,
                "transform": {
                    "location": {
                        "x": -75.63429260253906,
                        "y": 4298.08154296875,
                        "z": 372.7066955566406
                    },
                    "rotation": {
                        "roll": -0.02471923828125,
                        "pitch": -0.30649104714393616,
                        "yaw": 0.2229185402393341
                    }
                },
                "velocity": {
                    "x": 6.855806827545166,
                    "y": 0.04583001509308815,
                    "z": -0.03028230555355549
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.350866794586182,
                "transform": {
                    "location": {
                        "x": 18.307031631469727,
                        "y": 4290.97314453125,
                        "z": 372.29840087890625
                    },
                    "rotation": {
                        "roll": 0.019159168004989624,
                        "pitch": 0.8081411123275757,
                        "yaw": -179.7860870361328
                    }
                },
                "velocity": {
                    "x": -5.350795269012451,
                    "y": -0.010704904794692993,
                    "z": 0.025494661182165146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.242876052856445,
                "transform": {
                    "location": {
                        "x": 4.419687271118164,
                        "y": 4291.0673828125,
                        "z": 372.3689880371094
                    },
                    "rotation": {
                        "roll": -0.008453369140625,
                        "pitch": 0.7262676358222961,
                        "yaw": -179.83584594726562
                    }
                },
                "velocity": {
                    "x": -5.242641448974609,
                    "y": -0.03998616337776184,
                    "z": 0.029405441135168076
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.475011825561523,
                "transform": {
                    "location": {
                        "x": -26.19937515258789,
                        "y": 4291.24072265625,
                        "z": 372.4969177246094
                    },
                    "rotation": {
                        "roll": 0.0026666896883398294,
                        "pitch": 0.25738200545310974,
                        "yaw": -179.76063537597656
                    }
                },
                "velocity": {
                    "x": -4.4749531745910645,
                    "y": -0.014504791237413883,
                    "z": 0.017787236720323563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.470279693603516,
                "transform": {
                    "location": {
                        "x": -41.19866943359375,
                        "y": 4291.32958984375,
                        "z": 372.5594787597656
                    },
                    "rotation": {
                        "roll": 0.003032536944374442,
                        "pitch": 0.25557199120521545,
                        "yaw": -179.768310546875
                    }
                },
                "velocity": {
                    "x": -4.470218181610107,
                    "y": -0.014741684310138226,
                    "z": 0.018258504569530487
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.086039066314697,
                "transform": {
                    "location": {
                        "x": 18.61585807800293,
                        "y": 4294.22265625,
                        "z": 372.2915954589844
                    },
                    "rotation": {
                        "roll": 0.007348785176873207,
                        "pitch": 0.35373547673225403,
                        "yaw": -179.80992126464844
                    }
                },
                "velocity": {
                    "x": -5.085973262786865,
                    "y": -0.009686551056802273,
                    "z": 0.024012498557567596
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.290445804595947,
                "transform": {
                    "location": {
                        "x": 3.329531192779541,
                        "y": 4294.31201171875,
                        "z": 372.3677673339844
                    },
                    "rotation": {
                        "roll": 0.018125517293810844,
                        "pitch": 0.7827669382095337,
                        "yaw": -179.80624389648438
                    }
                },
                "velocity": {
                    "x": -5.2903733253479,
                    "y": -0.010452523827552795,
                    "z": 0.025628557428717613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.462573051452637,
                "transform": {
                    "location": {
                        "x": -26.675390243530273,
                        "y": 4294.48876953125,
                        "z": 372.4981689453125
                    },
                    "rotation": {
                        "roll": 0.021861786022782326,
                        "pitch": 0.786769449710846,
                        "yaw": -179.83670043945312
                    }
                },
                "velocity": {
                    "x": -5.462510108947754,
                    "y": -0.010056535713374615,
                    "z": 0.02423141337931156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.302968978881836,
                "transform": {
                    "location": {
                        "x": -41.62125015258789,
                        "y": 4294.57763671875,
                        "z": 372.5713195800781
                    },
                    "rotation": {
                        "roll": -0.003997801803052425,
                        "pitch": 0.1465895175933838,
                        "yaw": -179.82676696777344
                    }
                },
                "velocity": {
                    "x": -5.302912712097168,
                    "y": -0.006480132229626179,
                    "z": 0.023546867072582245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0004801027534995228,
        "expert_target_speed": 1.0853710218078572,
        "target_point": [
            50.99916373218159,
            -0.000456490210331284
        ],
        "target_point_next": [
            101.99917238128516,
            -0.00041969882129244684
        ]
    },
    "40": {
        "acceleration": [
            -5.98872184753418,
            0.08111350238323212,
            0.006143189966678619
        ],
        "angular_velocity": [
            0.014557186514139175,
            1.871351718902588,
            0.024727124720811844
        ],
        "forward_vector": [
            -0.9999574422836304,
            0.0056636035442352295,
            0.007285530213266611
        ],
        "right_vector": [
            -0.005663660820573568,
            -0.9999839663505554,
            1.278283707506489e-05
        ],
        "location": [
            -8.524296760559082,
            4291.1669921875,
            372.4217224121094
        ],
        "rotation": [
            -0.0007324220496229827,
            0.41743382811546326,
            179.6754913330078
        ],
        "velocity": [
            -0.7267398834228516,
            0.004039695020765066,
            0.00316620827652514
        ],
        "speed": 0.7267511109680677,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.894990921020508,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -27.418983459472656,
                4291.23779296875,
                372.5021667480469
            ],
            "velocity": [
                -5.265254974365234,
                -0.00757700065150857,
                0.024214811623096466
            ],
            "speed_kmh": 18.955137987416972,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.855410575866699,
                "transform": {
                    "location": {
                        "x": -73.84859466552734,
                        "y": 4301.33447265625,
                        "z": 372.6993408203125
                    },
                    "rotation": {
                        "roll": -0.0036926271859556437,
                        "pitch": -0.2569243907928467,
                        "yaw": 0.20637454092502594
                    }
                },
                "velocity": {
                    "x": 6.855309963226318,
                    "y": 0.022734012454748154,
                    "z": -0.029453620314598083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.632073879241943,
                "transform": {
                    "location": {
                        "x": -73.94945526123047,
                        "y": 4298.087890625,
                        "z": 372.6996765136719
                    },
                    "rotation": {
                        "roll": -0.0025024411734193563,
                        "pitch": -0.2570131719112396,
                        "yaw": 0.209806427359581
                    }
                },
                "velocity": {
                    "x": 6.631982326507568,
                    "y": 0.020622439682483673,
                    "z": -0.02807379700243473
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.141091346740723,
                "transform": {
                    "location": {
                        "x": 16.936874389648438,
                        "y": 4290.97119140625,
                        "z": 372.305419921875
                    },
                    "rotation": {
                        "roll": 0.011368518695235252,
                        "pitch": 0.6388548612594604,
                        "yaw": -179.8355712890625
                    }
                },
                "velocity": {
                    "x": -6.141019821166992,
                    "y": -0.010273562744259834,
                    "z": 0.027754897251725197
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.317425727844238,
                "transform": {
                    "location": {
                        "x": 3.20367169380188,
                        "y": 4291.05322265625,
                        "z": 372.3786315917969
                    },
                    "rotation": {
                        "roll": 0.07640904933214188,
                        "pitch": 0.24585264921188354,
                        "yaw": 178.51535034179688
                    }
                },
                "velocity": {
                    "x": -4.31719446182251,
                    "y": 0.04008841514587402,
                    "z": 0.019682712852954865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.265316009521484,
                "transform": {
                    "location": {
                        "x": -27.418983459472656,
                        "y": 4291.23779296875,
                        "z": 372.5021667480469
                    },
                    "rotation": {
                        "roll": 0.0038223564624786377,
                        "pitch": 0.2578805983066559,
                        "yaw": -179.8299102783203
                    }
                },
                "velocity": {
                    "x": -5.265254974365234,
                    "y": -0.00757700065150857,
                    "z": 0.024214811623096466
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.224791526794434,
                "transform": {
                    "location": {
                        "x": -42.416561126708984,
                        "y": 4291.32666015625,
                        "z": 372.56475830078125
                    },
                    "rotation": {
                        "roll": 0.002789601217955351,
                        "pitch": 0.25758689641952515,
                        "yaw": -179.8362274169922
                    }
                },
                "velocity": {
                    "x": -5.224730491638184,
                    "y": -0.00783976074308157,
                    "z": 0.02401530183851719
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.414605140686035,
                "transform": {
                    "location": {
                        "x": 17.014999389648438,
                        "y": 4294.2197265625,
                        "z": 372.298828125
                    },
                    "rotation": {
                        "roll": 0.0036785397678613663,
                        "pitch": 0.40543317794799805,
                        "yaw": -179.89935302734375
                    }
                },
                "velocity": {
                    "x": -7.414520740509033,
                    "y": -0.008137323893606663,
                    "z": 0.03451983258128166
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.201106548309326,
                "transform": {
                    "location": {
                        "x": 1.9642187356948853,
                        "y": 4294.31005859375,
                        "z": 372.37445068359375
                    },
                    "rotation": {
                        "roll": 0.011175465770065784,
                        "pitch": 0.6428437232971191,
                        "yaw": -179.86570739746094
                    }
                },
                "velocity": {
                    "x": -6.201037406921387,
                    "y": -0.008919312618672848,
                    "z": 0.027916572988033295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.273923397064209,
                "transform": {
                    "location": {
                        "x": -28.073593139648438,
                        "y": 4294.48681640625,
                        "z": 372.5046081542969
                    },
                    "rotation": {
                        "roll": 0.015036748722195625,
                        "pitch": 0.6385133862495422,
                        "yaw": -179.9083709716797
                    }
                },
                "velocity": {
                    "x": -6.27386474609375,
                    "y": -0.00883258506655693,
                    "z": 0.025762729346752167
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.757311820983887,
                "transform": {
                    "location": {
                        "x": -42.99429702758789,
                        "y": 4294.5751953125,
                        "z": 372.5767517089844
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": 0.17797422409057617,
                        "yaw": -179.89535522460938
                    }
                },
                "velocity": {
                    "x": -5.757265090942383,
                    "y": -0.007156977895647287,
                    "z": 0.022057533264160156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.001202446292154491,
        "expert_target_speed": 1.8251694624219112,
        "target_point": [
            50.95376897453984,
            -0.01270056836956518
        ],
        "target_point_next": [
            101.95377610678155,
            -0.02513926954299972
        ]
    },
    "45": {
        "acceleration": [
            -2.1666932106018066,
            0.006387084722518921,
            0.009867092594504356
        ],
        "angular_velocity": [
            0.031194720417261124,
            -0.042915891855955124,
            1.002224087715149
        ],
        "forward_vector": [
            -0.9999305605888367,
            0.005023562349379063,
            0.010659253224730492
        ],
        "right_vector": [
            -0.005023438949137926,
            -0.9999873638153076,
            3.834732706309296e-05
        ],
        "location": [
            -8.83187484741211,
            4291.16796875,
            372.4223327636719
        ],
        "rotation": [
            -0.002197264926508069,
            0.6107417941093445,
            179.712158203125
        ],
        "velocity": [
            -1.6077526807785034,
            0.006033874116837978,
            0.006586398929357529
        ],
        "speed": 1.6077640032627059,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.940608978271484,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -28.772186279296875,
                4291.2353515625,
                372.5079650878906
            ],
            "velocity": [
                -5.75478982925415,
                -0.007246631663292646,
                0.02182786911725998
            ],
            "speed_kmh": 20.717408837294848,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.768359661102295,
                "transform": {
                    "location": {
                        "x": -72.27734375,
                        "y": 4301.3388671875,
                        "z": 372.6927185058594
                    },
                    "rotation": {
                        "roll": -0.0017089840257540345,
                        "pitch": -0.36391928791999817,
                        "yaw": 0.17157797515392303
                    }
                },
                "velocity": {
                    "x": 5.768282413482666,
                    "y": 0.016586804762482643,
                    "z": -0.02474510669708252
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.719130039215088,
                "transform": {
                    "location": {
                        "x": -72.42788696289062,
                        "y": 4298.09228515625,
                        "z": 372.6932678222656
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.353878915309906,
                        "yaw": 0.14153912663459778
                    }
                },
                "velocity": {
                    "x": 5.719062328338623,
                    "y": 0.013561297208070755,
                    "z": -0.0244206041097641
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.936136722564697,
                "transform": {
                    "location": {
                        "x": 15.442265510559082,
                        "y": 4290.96826171875,
                        "z": 372.31365966796875
                    },
                    "rotation": {
                        "roll": 0.007966764271259308,
                        "pitch": 0.27699148654937744,
                        "yaw": 179.8933563232422
                    }
                },
                "velocity": {
                    "x": -4.936071395874023,
                    "y": -0.009048707783222198,
                    "z": 0.023704366758465767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6112657785415649,
                "transform": {
                    "location": {
                        "x": 2.506093740463257,
                        "y": 4291.04638671875,
                        "z": 372.3874816894531
                    },
                    "rotation": {
                        "roll": 0.0588911697268486,
                        "pitch": -0.464999258518219,
                        "yaw": 176.80946350097656
                    }
                },
                "velocity": {
                    "x": -0.6111699342727661,
                    "y": -0.010517943650484085,
                    "z": 0.0025627994909882545
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.754836082458496,
                "transform": {
                    "location": {
                        "x": -28.772186279296875,
                        "y": 4291.2353515625,
                        "z": 372.5079650878906
                    },
                    "rotation": {
                        "roll": 0.0010424727806821465,
                        "pitch": 0.2529287338256836,
                        "yaw": -179.90025329589844
                    }
                },
                "velocity": {
                    "x": -5.75478982925415,
                    "y": -0.007246631663292646,
                    "z": 0.02182786911725998
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.797680854797363,
                "transform": {
                    "location": {
                        "x": -43.768436431884766,
                        "y": 4291.32421875,
                        "z": 372.57049560546875
                    },
                    "rotation": {
                        "roll": 0.003774934448301792,
                        "pitch": 0.25338634848594666,
                        "yaw": -179.89739990234375
                    }
                },
                "velocity": {
                    "x": -5.797632694244385,
                    "y": -0.007417149376124144,
                    "z": 0.022433700039982796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.010891914367676,
                "transform": {
                    "location": {
                        "x": 15.184764862060547,
                        "y": 4294.21826171875,
                        "z": 372.3083190917969
                    },
                    "rotation": {
                        "roll": 0.0017677011201158166,
                        "pitch": 0.283008873462677,
                        "yaw": -179.92974853515625
                    }
                },
                "velocity": {
                    "x": -7.010807514190674,
                    "y": -0.008647775277495384,
                    "z": 0.03333677351474762
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.615848541259766,
                "transform": {
                    "location": {
                        "x": 0.23156249523162842,
                        "y": 4294.3076171875,
                        "z": 372.3814697265625
                    },
                    "rotation": {
                        "roll": 0.006315072998404503,
                        "pitch": 0.8487944006919861,
                        "yaw": -179.90432739257812
                    }
                },
                "velocity": {
                    "x": -7.6157684326171875,
                    "y": -0.01015130989253521,
                    "z": 0.033466584980487823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.690252304077148,
                "transform": {
                    "location": {
                        "x": -29.823593139648438,
                        "y": 4294.484375,
                        "z": 372.51116943359375
                    },
                    "rotation": {
                        "roll": 0.006964279804378748,
                        "pitch": 0.8229284882545471,
                        "yaw": -179.91790771484375
                    }
                },
                "velocity": {
                    "x": -7.690186023712158,
                    "y": -0.009020163677632809,
                    "z": 0.030634192749857903
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.775477409362793,
                "transform": {
                    "location": {
                        "x": -44.50617218017578,
                        "y": 4294.5732421875,
                        "z": 372.5831604003906
                    },
                    "rotation": {
                        "roll": 0.0009339001262560487,
                        "pitch": 0.15639765560626984,
                        "yaw": -179.90562438964844
                    }
                },
                "velocity": {
                    "x": -6.775417327880859,
                    "y": -0.005020591896027327,
                    "z": 0.028003130108118057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0023478453513234854,
        "expert_target_speed": 2.7113445999430517,
        "target_point": [
            50.64617130300594,
            -0.04587522023505369
        ],
        "target_point_next": [
            101.64616003348883,
            -0.0909496099801439
        ]
    },
    "50": {
        "acceleration": [
            -5.05040168762207,
            0.013282466679811478,
            0.01627787947654724
        ],
        "angular_velocity": [
            0.026383351534605026,
            0.5501086711883545,
            -0.5357739925384521
        ],
        "forward_vector": [
            -0.9999199509620667,
            0.004680921323597431,
            0.011754002422094345
        ],
        "right_vector": [
            -0.004680756013840437,
            -0.9999890327453613,
            4.1542436520103365e-05
        ],
        "location": [
            -9.358593940734863,
            4291.17041015625,
            372.42437744140625
        ],
        "rotation": [
            -0.0023803708609193563,
            0.6734702587127686,
            179.73178100585938
        ],
        "velocity": [
            -2.663989543914795,
            0.009178899228572845,
            0.011017446406185627
        ],
        "speed": 2.664005357028849,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.941850662231445,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -30.300155639648438,
                4291.2333984375,
                372.51422119140625
            ],
            "velocity": [
                -6.607210159301758,
                -0.008237938396632671,
                0.026669682934880257
            ],
            "speed_kmh": 23.786168832188427,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.9960808753967285,
                "transform": {
                    "location": {
                        "x": -70.83280944824219,
                        "y": 4301.34326171875,
                        "z": 372.6869201660156
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.245087668299675,
                        "yaw": 0.1638748049736023
                    }
                },
                "velocity": {
                    "x": 5.996001243591309,
                    "y": 0.016838425770401955,
                    "z": -0.02594742737710476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.932385444641113,
                "transform": {
                    "location": {
                        "x": -70.97359466552734,
                        "y": 4298.09619140625,
                        "z": 372.6874084472656
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": -0.23590105772018433,
                        "yaw": 0.13013824820518494
                    }
                },
                "velocity": {
                    "x": 5.932314395904541,
                    "y": 0.01253261137753725,
                    "z": -0.026168402284383774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004014842212200165,
                "transform": {
                    "location": {
                        "x": 14.952187538146973,
                        "y": 4290.9619140625,
                        "z": 372.32135009765625
                    },
                    "rotation": {
                        "roll": 0.036524299532175064,
                        "pitch": -1.226162314414978,
                        "yaw": 179.04527282714844
                    }
                },
                "velocity": {
                    "x": -0.0008635926060378551,
                    "y": -0.0037002405151724815,
                    "z": -0.0012966830981895328
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.447388231754303,
                "transform": {
                    "location": {
                        "x": 2.4710936546325684,
                        "y": 4291.0458984375,
                        "z": 372.3852233886719
                    },
                    "rotation": {
                        "roll": 0.01738593727350235,
                        "pitch": -0.1769701987504959,
                        "yaw": 176.79283142089844
                    }
                },
                "velocity": {
                    "x": -0.447324275970459,
                    "y": 0.007234780117869377,
                    "z": 0.0022072887513786554
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.607269287109375,
                "transform": {
                    "location": {
                        "x": -30.300155639648438,
                        "y": 4291.2333984375,
                        "z": 372.51422119140625
                    },
                    "rotation": {
                        "roll": 0.003305925289168954,
                        "pitch": 0.2573000490665436,
                        "yaw": -179.92449951171875
                    }
                },
                "velocity": {
                    "x": -6.607210159301758,
                    "y": -0.008237938396632671,
                    "z": 0.026669682934880257
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.557745933532715,
                "transform": {
                    "location": {
                        "x": -45.295780181884766,
                        "y": 4291.322265625,
                        "z": 372.5767517089844
                    },
                    "rotation": {
                        "roll": 0.003318001050502062,
                        "pitch": 0.2556608021259308,
                        "yaw": -179.8960723876953
                    }
                },
                "velocity": {
                    "x": -6.557688236236572,
                    "y": -0.008540614508092403,
                    "z": 0.02611277438700199
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.980311870574951,
                "transform": {
                    "location": {
                        "x": 13.46718692779541,
                        "y": 4294.21728515625,
                        "z": 372.31640625
                    },
                    "rotation": {
                        "roll": 0.004855637904256582,
                        "pitch": 0.26989489793777466,
                        "yaw": -179.98703002929688
                    }
                },
                "velocity": {
                    "x": -6.980225563049316,
                    "y": 0.01359438244253397,
                    "z": 0.031910065561532974
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.686491966247559,
                "transform": {
                    "location": {
                        "x": -1.790468692779541,
                        "y": 4294.306640625,
                        "z": 372.3907775878906
                    },
                    "rotation": {
                        "roll": 0.0234189722687006,
                        "pitch": 0.7568942308425903,
                        "yaw": -179.97512817382812
                    }
                },
                "velocity": {
                    "x": -8.686400413513184,
                    "y": 0.010084051638841629,
                    "z": 0.038621243089437485
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.5639967918396,
                "transform": {
                    "location": {
                        "x": -31.785858154296875,
                        "y": 4294.48388671875,
                        "z": 372.5204162597656
                    },
                    "rotation": {
                        "roll": 0.020487014204263687,
                        "pitch": 0.4955165386199951,
                        "yaw": -179.97804260253906
                    }
                },
                "velocity": {
                    "x": -7.563923358917236,
                    "y": 0.007454670500010252,
                    "z": 0.032531946897506714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.672423839569092,
                "transform": {
                    "location": {
                        "x": -46.23820114135742,
                        "y": 4294.5712890625,
                        "z": 372.5898742675781
                    },
                    "rotation": {
                        "roll": -0.0015258790226653218,
                        "pitch": 0.21467965841293335,
                        "yaw": -179.93798828125
                    }
                },
                "velocity": {
                    "x": -6.672359466552734,
                    "y": 0.00803017895668745,
                    "z": 0.02818339318037033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.002886140951886773,
        "expert_target_speed": 3.761959392339065,
        "target_point": [
            50.11942784746284,
            -0.06326303449618095
        ],
        "target_point_next": [
            101.11939812702151,
            -0.12582255914007334
        ]
    },
    "55": {
        "acceleration": [
            -5.7324981689453125,
            0.007114987820386887,
            0.028702542185783386
        ],
        "angular_velocity": [
            -0.005087174009531736,
            0.4228910207748413,
            0.1888364851474762
        ],
        "forward_vector": [
            -0.9998853206634521,
            0.00394316203892231,
            0.014622523449361324
        ],
        "right_vector": [
            -0.0039426181465387344,
            -0.9999922513961792,
            6.603931979043409e-05
        ],
        "location": [
            -10.221327781677246,
            4291.17236328125,
            372.427490234375
        ],
        "rotation": [
            -0.003784178989008069,
            0.8378387689590454,
            179.7740478515625
        ],
        "velocity": [
            -4.168182849884033,
            0.011869979090988636,
            0.018450621515512466
        ],
        "speed": 4.168199751268046,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.84200096130371,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -32.063045501708984,
                4291.232421875,
                372.5216064453125
            ],
            "velocity": [
                -7.256392478942871,
                0.009311075322329998,
                0.029315756633877754
            ],
            "speed_kmh": 26.123247612413635,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.657566547393799,
                "transform": {
                    "location": {
                        "x": -69.1949234008789,
                        "y": 4301.34375,
                        "z": 372.6804504394531
                    },
                    "rotation": {
                        "roll": 0.008227226324379444,
                        "pitch": -0.011747924610972404,
                        "yaw": 0.038479845970869064
                    }
                },
                "velocity": {
                    "x": 7.657501697540283,
                    "y": -0.0045221480540931225,
                    "z": -0.0311615988612175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.026474952697754,
                "transform": {
                    "location": {
                        "x": -69.23992156982422,
                        "y": 4298.09619140625,
                        "z": 372.6805725097656
                    },
                    "rotation": {
                        "roll": 0.006164092104882002,
                        "pitch": 0.016679320484399796,
                        "yaw": -0.000396728515625
                    }
                },
                "velocity": {
                    "x": 8.02640151977539,
                    "y": -0.008515299297869205,
                    "z": -0.03320823237299919
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.287558674812317,
                "transform": {
                    "location": {
                        "x": 14.741093635559082,
                        "y": 4290.96240234375,
                        "z": 372.3182067871094
                    },
                    "rotation": {
                        "roll": 0.010378388687968254,
                        "pitch": -0.10817652940750122,
                        "yaw": 179.13104248046875
                    }
                },
                "velocity": {
                    "x": -1.2875410318374634,
                    "y": 0.0030544186010956764,
                    "z": 0.006010360550135374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2624770402908325,
                "transform": {
                    "location": {
                        "x": 2.2523436546325684,
                        "y": 4291.0498046875,
                        "z": 372.3805847167969
                    },
                    "rotation": {
                        "roll": -0.0430297777056694,
                        "pitch": 0.5255283713340759,
                        "yaw": 177.0972137451172
                    }
                },
                "velocity": {
                    "x": -1.2624380588531494,
                    "y": 0.007840833626687527,
                    "z": 0.006066618021577597
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.256457805633545,
                "transform": {
                    "location": {
                        "x": -32.063045501708984,
                        "y": 4291.232421875,
                        "z": 372.5216064453125
                    },
                    "rotation": {
                        "roll": 0.0030542565509676933,
                        "pitch": 0.2577098608016968,
                        "yaw": -179.9876251220703
                    }
                },
                "velocity": {
                    "x": -7.256392478942871,
                    "y": 0.009311075322329998,
                    "z": 0.029315756633877754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.364623069763184,
                "transform": {
                    "location": {
                        "x": -47.0549201965332,
                        "y": 4291.3212890625,
                        "z": 372.58404541015625
                    },
                    "rotation": {
                        "roll": 0.003919717390090227,
                        "pitch": 0.25714296102523804,
                        "yaw": -179.98240661621094
                    }
                },
                "velocity": {
                    "x": -7.3645548820495605,
                    "y": 0.010288513265550137,
                    "z": 0.03000716120004654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.108976364135742,
                "transform": {
                    "location": {
                        "x": 11.58437442779541,
                        "y": 4294.220703125,
                        "z": 372.3247985839844
                    },
                    "rotation": {
                        "roll": 0.0026665779296308756,
                        "pitch": 0.32051342725753784,
                        "yaw": 179.88916015625
                    }
                },
                "velocity": {
                    "x": -8.108860969543457,
                    "y": 0.021976744756102562,
                    "z": 0.03721218183636665
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.125328063964844,
                "transform": {
                    "location": {
                        "x": -4.176484107971191,
                        "y": 4294.310546875,
                        "z": 372.40087890625
                    },
                    "rotation": {
                        "roll": 0.024835430085659027,
                        "pitch": 0.8837034702301025,
                        "yaw": 179.88137817382812
                    }
                },
                "velocity": {
                    "x": -10.125195503234863,
                    "y": 0.026009593158960342,
                    "z": 0.04486165940761566
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.85141658782959,
                "transform": {
                    "location": {
                        "x": -33.49617004394531,
                        "y": 4294.48681640625,
                        "z": 372.5298767089844
                    },
                    "rotation": {
                        "roll": 0.01619049347937107,
                        "pitch": -0.10024668276309967,
                        "yaw": 179.90560913085938
                    }
                },
                "velocity": {
                    "x": -5.851349830627441,
                    "y": 0.013994231820106506,
                    "z": 0.02420506440103054
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.13640022277832,
                "transform": {
                    "location": {
                        "x": -47.82335662841797,
                        "y": 4294.57421875,
                        "z": 372.59588623046875
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.2879607677459717,
                        "yaw": 179.94003295898438
                    }
                },
                "velocity": {
                    "x": -6.136328220367432,
                    "y": 0.015975724905729294,
                    "z": 0.025041408836841583
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0060740066692233086,
        "expert_target_speed": 5.216277619178327,
        "target_point": [
            49.256632756978604,
            -0.10165958039687761
        ],
        "target_point_next": [
            100.25654306031754,
            -0.20181576530254902
        ]
    },
    "60": {
        "acceleration": [
            -2.4892139434814453,
            -0.040680114179849625,
            -0.00639304518699646
        ],
        "angular_velocity": [
            -0.0736689493060112,
            -0.9275571703910828,
            -0.590578019618988
        ],
        "forward_vector": [
            -0.9998812675476074,
            0.0029421336948871613,
            0.015123505145311356
        ],
        "right_vector": [
            -0.002940585371106863,
            -0.9999956488609314,
            0.00012462165614124388
        ],
        "location": [
            -11.443046569824219,
            4291.17578125,
            372.43292236328125
        ],
        "rotation": [
            -0.007141112349927425,
            0.8665460348129272,
            179.83140563964844
        ],
        "velocity": [
            -5.411243915557861,
            0.009498052299022675,
            0.024963293224573135
        ],
        "speed": 5.411252251250116,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.43505096435547,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -33.877811431884766,
                4291.2353515625,
                372.529296875
            ],
            "velocity": [
                -7.291454315185547,
                0.01957014948129654,
                0.02957838959991932
            ],
            "speed_kmh": 26.249546056533376,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.322458267211914,
                "transform": {
                    "location": {
                        "x": -67.1312484741211,
                        "y": 4301.34130859375,
                        "z": 372.671875
                    },
                    "rotation": {
                        "roll": 0.0047058467753231525,
                        "pitch": -0.10116192698478699,
                        "yaw": -0.07745359092950821
                    }
                },
                "velocity": {
                    "x": 8.322381019592285,
                    "y": -0.014247195795178413,
                    "z": -0.03283406049013138
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.22294807434082,
                "transform": {
                    "location": {
                        "x": -67.1586685180664,
                        "y": 4298.0927734375,
                        "z": 372.67181396484375
                    },
                    "rotation": {
                        "roll": 0.004289267584681511,
                        "pitch": -0.15051686763763428,
                        "yaw": -0.0942687839269638
                    }
                },
                "velocity": {
                    "x": 8.222867012023926,
                    "y": -0.016658227890729904,
                    "z": -0.03270114213228226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1778557300567627,
                "transform": {
                    "location": {
                        "x": 14.288436889648438,
                        "y": 4290.9638671875,
                        "z": 372.318359375
                    },
                    "rotation": {
                        "roll": -0.006591795943677425,
                        "pitch": 0.4235195219516754,
                        "yaw": 179.34213256835938
                    }
                },
                "velocity": {
                    "x": -2.177830696105957,
                    "y": 0.003581184893846512,
                    "z": 0.00982275977730751
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.42289662361145,
                "transform": {
                    "location": {
                        "x": 1.8135937452316284,
                        "y": 4291.056640625,
                        "z": 372.3821716308594
                    },
                    "rotation": {
                        "roll": -0.0426940843462944,
                        "pitch": 0.5674589276313782,
                        "yaw": 177.61985778808594
                    }
                },
                "velocity": {
                    "x": -2.422837257385254,
                    "y": 0.013915926218032837,
                    "z": 0.009713715873658657
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.291540145874023,
                "transform": {
                    "location": {
                        "x": -33.877811431884766,
                        "y": 4291.2353515625,
                        "z": 372.529296875
                    },
                    "rotation": {
                        "roll": 0.0006064347107894719,
                        "pitch": 0.24255366623401642,
                        "yaw": 179.89308166503906
                    }
                },
                "velocity": {
                    "x": -7.291454315185547,
                    "y": 0.01957014948129654,
                    "z": 0.02957838959991932
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.955235958099365,
                "transform": {
                    "location": {
                        "x": -48.97296905517578,
                        "y": 4291.32421875,
                        "z": 372.59197998046875
                    },
                    "rotation": {
                        "roll": 0.0023047204595059156,
                        "pitch": 0.25378933548927307,
                        "yaw": 179.88865661621094
                    }
                },
                "velocity": {
                    "x": -7.955137729644775,
                    "y": 0.021114462986588478,
                    "z": 0.03345838561654091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.266083717346191,
                "transform": {
                    "location": {
                        "x": 9.407265663146973,
                        "y": 4294.22607421875,
                        "z": 372.3346862792969
                    },
                    "rotation": {
                        "roll": 0.0022928344551473856,
                        "pitch": 0.3422607481479645,
                        "yaw": 179.8497314453125
                    }
                },
                "velocity": {
                    "x": -9.26595401763916,
                    "y": 0.025799555703997612,
                    "z": 0.04182448238134384
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.085357666015625,
                "transform": {
                    "location": {
                        "x": -6.83132791519165,
                        "y": 4294.318359375,
                        "z": 372.4130859375
                    },
                    "rotation": {
                        "roll": 0.01946231909096241,
                        "pitch": 0.7693456411361694,
                        "yaw": 179.82872009277344
                    }
                },
                "velocity": {
                    "x": -11.08517837524414,
                    "y": 0.040193140506744385,
                    "z": 0.048455800861120224
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.21221193671226501,
                "transform": {
                    "location": {
                        "x": -34.272342681884766,
                        "y": 4294.4853515625,
                        "z": 372.5379333496094
                    },
                    "rotation": {
                        "roll": 0.009764951653778553,
                        "pitch": -1.4460124969482422,
                        "yaw": 179.59689331054688
                    }
                },
                "velocity": {
                    "x": -0.21216967701911926,
                    "y": -0.004003378562629223,
                    "z": -0.0013811588287353516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.50307559967041,
                "transform": {
                    "location": {
                        "x": -49.30453109741211,
                        "y": 4294.57763671875,
                        "z": 372.6019592285156
                    },
                    "rotation": {
                        "roll": 0.000958777847699821,
                        "pitch": 0.29602038860321045,
                        "yaw": 179.8821258544922
                    }
                },
                "velocity": {
                    "x": -5.502999305725098,
                    "y": 0.01577995903789997,
                    "z": 0.02430402673780918
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.012665352784097195,
        "expert_target_speed": 6.3618249548887364,
        "target_point": [
            48.0347827075294,
            -0.15115947317196815
        ],
        "target_point_next": [
            99.0345671494253,
            -0.30238476915386486
        ]
    },
    "65": {
        "acceleration": [
            -11.328344345092773,
            0.00010311603546142578,
            0.026644505560398102
        ],
        "angular_velocity": [
            -0.03556029871106148,
            1.9694303274154663,
            0.6423830986022949
        ],
        "forward_vector": [
            -0.9999337792396545,
            0.0023686871863901615,
            0.011260986328125
        ],
        "right_vector": [
            -0.002367895795032382,
            -0.9999971985816956,
            8.36179533507675e-05
        ],
        "location": [
            -12.82656192779541,
            4291.17822265625,
            372.43988037109375
        ],
        "rotation": [
            -0.004791259765625,
            0.6452206373214722,
            179.86427307128906
        ],
        "velocity": [
            -6.1711249351501465,
            0.008550492115318775,
            0.027280939742922783
        ],
        "speed": 6.171130858776802,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.917633056640625,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -35.74390411376953,
                4291.24072265625,
                372.5369873046875
            ],
            "velocity": [
                -7.686176776885986,
                0.024186469614505768,
                0.031178006902337074
            ],
            "speed_kmh": 27.67060103551473,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.884641647338867,
                "transform": {
                    "location": {
                        "x": -65.11656188964844,
                        "y": 4301.3369140625,
                        "z": 372.66339111328125
                    },
                    "rotation": {
                        "roll": 0.004790049046278,
                        "pitch": -0.25829723477363586,
                        "yaw": -0.13134765625
                    }
                },
                "velocity": {
                    "x": 7.8845415115356445,
                    "y": -0.022345278412103653,
                    "z": -0.032869186252355576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.870903491973877,
                "transform": {
                    "location": {
                        "x": -65.1640625,
                        "y": 4298.08837890625,
                        "z": 372.6634826660156
                    },
                    "rotation": {
                        "roll": 0.004008498974144459,
                        "pitch": -0.2593695819377899,
                        "yaw": -0.1635741889476776
                    }
                },
                "velocity": {
                    "x": 7.870797157287598,
                    "y": -0.025053629651665688,
                    "z": -0.032297100871801376
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.008964519016444683,
                "transform": {
                    "location": {
                        "x": 13.946093559265137,
                        "y": 4290.96533203125,
                        "z": 372.3222961425781
                    },
                    "rotation": {
                        "roll": 0.011403918266296387,
                        "pitch": -0.21383272111415863,
                        "yaw": 179.48080444335938
                    }
                },
                "velocity": {
                    "x": -0.008959890343248844,
                    "y": 3.996361101599177e-06,
                    "z": 0.00028801889857277274
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.2206196784973145,
                "transform": {
                    "location": {
                        "x": 0.9971874952316284,
                        "y": 4291.06689453125,
                        "z": 372.3852233886719
                    },
                    "rotation": {
                        "roll": -0.0486755445599556,
                        "pitch": 0.6505345106124878,
                        "yaw": 178.37930297851562
                    }
                },
                "velocity": {
                    "x": -4.220558166503906,
                    "y": 0.013345791958272457,
                    "z": 0.018489303067326546
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.686277866363525,
                "transform": {
                    "location": {
                        "x": -35.74390411376953,
                        "y": 4291.24072265625,
                        "z": 372.5369873046875
                    },
                    "rotation": {
                        "roll": 0.002092474140226841,
                        "pitch": 0.24857106804847717,
                        "yaw": 179.83218383789062
                    }
                },
                "velocity": {
                    "x": -7.686176776885986,
                    "y": 0.024186469614505768,
                    "z": 0.031178006902337074
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.221059799194336,
                "transform": {
                    "location": {
                        "x": -51.010780334472656,
                        "y": 4291.330078125,
                        "z": 372.60052490234375
                    },
                    "rotation": {
                        "roll": 0.0018277629278600216,
                        "pitch": 0.24557261168956757,
                        "yaw": 179.82568359375
                    }
                },
                "velocity": {
                    "x": -8.220951080322266,
                    "y": 0.026332203298807144,
                    "z": 0.03299117088317871
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.510986328125,
                "transform": {
                    "location": {
                        "x": 6.928124904632568,
                        "y": 4294.23486328125,
                        "z": 372.34600830078125
                    },
                    "rotation": {
                        "roll": 0.0029382130596786737,
                        "pitch": 0.34616079926490784,
                        "yaw": 179.77610778808594
                    }
                },
                "velocity": {
                    "x": -10.51077651977539,
                    "y": 0.04719579964876175,
                    "z": 0.046667687594890594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.899710655212402,
                "transform": {
                    "location": {
                        "x": -9.612343788146973,
                        "y": 4294.3291015625,
                        "z": 372.4264831542969
                    },
                    "rotation": {
                        "roll": 0.019208980724215508,
                        "pitch": 0.4421181082725525,
                        "yaw": 179.74508666992188
                    }
                },
                "velocity": {
                    "x": -10.899493217468262,
                    "y": 0.049309685826301575,
                    "z": 0.04805435240268707
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1309998035430908,
                "transform": {
                    "location": {
                        "x": -34.42163848876953,
                        "y": 4294.486328125,
                        "z": 372.53466796875
                    },
                    "rotation": {
                        "roll": 0.01601307839155197,
                        "pitch": -0.4353630542755127,
                        "yaw": 179.63970947265625
                    }
                },
                "velocity": {
                    "x": -1.130972981452942,
                    "y": 0.005707283969968557,
                    "z": 0.005293922498822212
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.492962837219238,
                "transform": {
                    "location": {
                        "x": -50.65132522583008,
                        "y": 4294.58154296875,
                        "z": 372.60797119140625
                    },
                    "rotation": {
                        "roll": 0.0006292103789746761,
                        "pitch": 0.25918516516685486,
                        "yaw": 179.8590850830078
                    }
                },
                "velocity": {
                    "x": -5.492897033691406,
                    "y": 0.015231351368129253,
                    "z": 0.02213192917406559
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.018459662795066833,
        "expert_target_speed": 7.0384333300473125,
        "target_point": [
            46.651170919795824,
            -0.17952700743758876
        ],
        "target_point_next": [
            97.65086030868886,
            -0.3599832249027594
        ]
    },
    "70": {
        "acceleration": [
            -5.173845291137695,
            0.11771749705076218,
            0.027407445013523102
        ],
        "angular_velocity": [
            0.1627141535282135,
            -0.0046155257150530815,
            -2.901219129562378
        ],
        "forward_vector": [
            -0.999883770942688,
            0.0031915002036839724,
            0.014909906312823296
        ],
        "right_vector": [
            -0.003196817124262452,
            -0.9999948740005493,
            -0.000332789437379688
        ],
        "location": [
            -14.588593482971191,
            4291.1826171875,
            372.44659423828125
        ],
        "rotation": [
            0.019069550558924675,
            0.8543063402175903,
            179.81712341308594
        ],
        "velocity": [
            -7.6715545654296875,
            0.03440098091959953,
            0.03189608454704285
        ],
        "speed": 7.671631695920582,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.14272117614746,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -37.731014251708984,
                4291.24755859375,
                372.5452575683594
            ],
            "velocity": [
                -8.07237720489502,
                0.034921128302812576,
                0.03318262845277786
            ],
            "speed_kmh": 29.061075380299275,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.092684745788574,
                "transform": {
                    "location": {
                        "x": -63.12632751464844,
                        "y": 4301.32958984375,
                        "z": 372.6551818847656
                    },
                    "rotation": {
                        "roll": 0.0033518795389682055,
                        "pitch": -0.21709755063056946,
                        "yaw": -0.2113342136144638
                    }
                },
                "velocity": {
                    "x": 8.09255313873291,
                    "y": -0.03193533048033714,
                    "z": -0.033293187618255615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.134204864501953,
                "transform": {
                    "location": {
                        "x": -63.16242218017578,
                        "y": 4298.0810546875,
                        "z": 372.6552734375
                    },
                    "rotation": {
                        "roll": 0.0031730113551020622,
                        "pitch": -0.2123095840215683,
                        "yaw": -0.2021789401769638
                    }
                },
                "velocity": {
                    "x": 8.134072303771973,
                    "y": -0.032701633870601654,
                    "z": -0.033046890050172806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.161499261856079,
                "transform": {
                    "location": {
                        "x": 13.769296646118164,
                        "y": 4290.9658203125,
                        "z": 372.3214416503906
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.24126958847045898,
                        "yaw": 179.51869201660156
                    }
                },
                "velocity": {
                    "x": -1.1614807844161987,
                    "y": 0.004621768835932016,
                    "z": 0.004648761823773384
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.395689964294434,
                "transform": {
                    "location": {
                        "x": -0.2601562440395355,
                        "y": 4291.07568359375,
                        "z": 372.3914794921875
                    },
                    "rotation": {
                        "roll": -0.0336608923971653,
                        "pitch": 0.6042258143424988,
                        "yaw": 179.203369140625
                    }
                },
                "velocity": {
                    "x": -5.3956298828125,
                    "y": -6.869561912026256e-05,
                    "z": 0.025440635159611702
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.072521209716797,
                "transform": {
                    "location": {
                        "x": -37.731014251708984,
                        "y": 4291.24755859375,
                        "z": 372.5452575683594
                    },
                    "rotation": {
                        "roll": 0.0014167454792186618,
                        "pitch": 0.24761483073234558,
                        "yaw": 179.78054809570312
                    }
                },
                "velocity": {
                    "x": -8.07237720489502,
                    "y": 0.034921128302812576,
                    "z": 0.03318262845277786
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050793647766113,
                "transform": {
                    "location": {
                        "x": -53.04460906982422,
                        "y": 4291.33740234375,
                        "z": 372.6090393066406
                    },
                    "rotation": {
                        "roll": 0.0010450002737343311,
                        "pitch": 0.2369665652513504,
                        "yaw": 179.76724243164062
                    }
                },
                "velocity": {
                    "x": -8.050646781921387,
                    "y": 0.03560516610741615,
                    "z": 0.033137235790491104
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.442358016967773,
                "transform": {
                    "location": {
                        "x": 4.255546569824219,
                        "y": 4294.24658203125,
                        "z": 372.35858154296875
                    },
                    "rotation": {
                        "roll": 0.0005605829646810889,
                        "pitch": 0.28009921312332153,
                        "yaw": 179.732421875
                    }
                },
                "velocity": {
                    "x": -10.442127227783203,
                    "y": 0.04976661503314972,
                    "z": 0.04843858629465103
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.686997413635254,
                "transform": {
                    "location": {
                        "x": -12.238046646118164,
                        "y": 4294.341796875,
                        "z": 372.4395751953125
                    },
                    "rotation": {
                        "roll": 0.014500943943858147,
                        "pitch": 0.01846883073449135,
                        "yaw": 179.71214294433594
                    }
                },
                "velocity": {
                    "x": -9.686768531799316,
                    "y": 0.05105127766728401,
                    "z": 0.04283206909894943
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.107705593109131,
                "transform": {
                    "location": {
                        "x": -34.83538818359375,
                        "y": 4294.48828125,
                        "z": 372.5337829589844
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.3102886378765106,
                        "yaw": 179.66537475585938
                    }
                },
                "velocity": {
                    "x": -2.107677698135376,
                    "y": 0.007659350987523794,
                    "z": 0.007649641018360853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.235323429107666,
                "transform": {
                    "location": {
                        "x": -52.11140441894531,
                        "y": 4294.5869140625,
                        "z": 372.6146545410156
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.16921792924404144,
                        "yaw": 179.83346557617188
                    }
                },
                "velocity": {
                    "x": -6.23520565032959,
                    "y": 0.028197722509503365,
                    "z": 0.025966797024011612
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02282833121716976,
        "expert_target_speed": 8.258737754464816,
        "target_point": [
            44.889266200445704,
            -0.1423832390895116
        ],
        "target_point_next": [
            95.88908676986544,
            -0.28088990673702974
        ]
    },
    "75": {
        "acceleration": [
            -4.220428466796875,
            0.20395144820213318,
            0.020089149475097656
        ],
        "angular_velocity": [
            0.07642330974340439,
            -0.18431061506271362,
            -1.1742892265319824
        ],
        "forward_vector": [
            -0.9999014735221863,
            0.007140920497477055,
            0.012085619382560253
        ],
        "right_vector": [
            -0.007149918936192989,
            -0.9999741911888123,
            -0.0007015314185991883
        ],
        "location": [
            -16.62468719482422,
            4291.1953125,
            372.4558410644531
        ],
        "rotation": [
            0.04019772633910179,
            0.6924718618392944,
            179.5908203125
        ],
        "velocity": [
            -8.47133731842041,
            0.07586270570755005,
            0.03692376986145973
        ],
        "speed": 8.471676995293173,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.09458351135254,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -39.7189826965332,
                4291.25634765625,
                372.5535888671875
            ],
            "velocity": [
                -7.814286231994629,
                0.036922138184309006,
                0.032779522240161896
            ],
            "speed_kmh": 28.131991956801023,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.087976455688477,
                "transform": {
                    "location": {
                        "x": -61.094451904296875,
                        "y": 4301.32177734375,
                        "z": 372.6467590332031
                    },
                    "rotation": {
                        "roll": 0.0021433180663734674,
                        "pitch": -0.23452819883823395,
                        "yaw": -0.240325927734375
                    }
                },
                "velocity": {
                    "x": 8.0878324508667,
                    "y": -0.03459491580724716,
                    "z": -0.03362705558538437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05333423614502,
                "transform": {
                    "location": {
                        "x": -61.13328170776367,
                        "y": 4298.072265625,
                        "z": 372.6468200683594
                    },
                    "rotation": {
                        "roll": 0.0017715954454615712,
                        "pitch": -0.24117396771907806,
                        "yaw": -0.2624511420726776
                    }
                },
                "velocity": {
                    "x": 8.053183555603027,
                    "y": -0.035851944237947464,
                    "z": -0.033738549798727036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9918524026870728,
                "transform": {
                    "location": {
                        "x": 13.37289047241211,
                        "y": 4290.96826171875,
                        "z": 372.3222961425781
                    },
                    "rotation": {
                        "roll": -0.004821776412427425,
                        "pitch": 0.5128173828125,
                        "yaw": 179.56370544433594
                    }
                },
                "velocity": {
                    "x": -1.9918254613876343,
                    "y": 0.006816643290221691,
                    "z": 0.007806539535522461
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.069804668426514,
                "transform": {
                    "location": {
                        "x": -1.7209374904632568,
                        "y": 4291.08203125,
                        "z": 372.4001159667969
                    },
                    "rotation": {
                        "roll": -0.0035705554764717817,
                        "pitch": 0.3475610017776489,
                        "yaw": 179.95985412597656
                    }
                },
                "velocity": {
                    "x": -5.069753646850586,
                    "y": 0.0061310878954827785,
                    "z": 0.02189275622367859
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.814442157745361,
                "transform": {
                    "location": {
                        "x": -39.7189826965332,
                        "y": 4291.25634765625,
                        "z": 372.5535888671875
                    },
                    "rotation": {
                        "roll": 0.0010088438866659999,
                        "pitch": 0.2358054369688034,
                        "yaw": 179.7367706298828
                    }
                },
                "velocity": {
                    "x": -7.814286231994629,
                    "y": 0.036922138184309006,
                    "z": 0.032779522240161896
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.036629676818848,
                "transform": {
                    "location": {
                        "x": -55.05249786376953,
                        "y": 4291.3466796875,
                        "z": 372.6174011230469
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": 0.23557321727275848,
                        "yaw": 179.7307586669922
                    }
                },
                "velocity": {
                    "x": -8.036469459533691,
                    "y": 0.037852656096220016,
                    "z": 0.03373635187745094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.839221954345703,
                "transform": {
                    "location": {
                        "x": 1.8523436784744263,
                        "y": 4294.2578125,
                        "z": 372.3702392578125
                    },
                    "rotation": {
                        "roll": 0.0010085400426760316,
                        "pitch": 0.18034429848194122,
                        "yaw": 179.70367431640625
                    }
                },
                "velocity": {
                    "x": -8.839001655578613,
                    "y": 0.047350890934467316,
                    "z": 0.04061657935380936
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.774497032165527,
                "transform": {
                    "location": {
                        "x": -14.483046531677246,
                        "y": 4294.353515625,
                        "z": 372.4500427246094
                    },
                    "rotation": {
                        "roll": 0.007506886962801218,
                        "pitch": -0.167325958609581,
                        "yaw": 179.6913299560547
                    }
                },
                "velocity": {
                    "x": -8.7742919921875,
                    "y": 0.04731122404336929,
                    "z": 0.03707532957196236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2001304626464844,
                "transform": {
                    "location": {
                        "x": -35.50328063964844,
                        "y": 4294.49072265625,
                        "z": 372.5354919433594
                    },
                    "rotation": {
                        "roll": -0.002807616489008069,
                        "pitch": 0.5896228551864624,
                        "yaw": 179.72877502441406
                    }
                },
                "velocity": {
                    "x": -3.200083017349243,
                    "y": 0.011358348652720451,
                    "z": 0.01323138177394867
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.660521984100342,
                "transform": {
                    "location": {
                        "x": -53.791873931884766,
                        "y": 4294.59326171875,
                        "z": 372.62225341796875
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": 0.09019947052001953,
                        "yaw": 179.76365661621094
                    }
                },
                "velocity": {
                    "x": -7.660390377044678,
                    "y": 0.03195597976446152,
                    "z": 0.031581420451402664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0073799933306872845,
        "expert_target_speed": 8.840838748483147,
        "target_point": [
            42.8533459791582,
            0.03306911060238421
        ],
        "target_point_next": [
            93.85331580917851,
            0.09599404213814433
        ]
    },
    "80": {
        "acceleration": [
            -3.149280548095703,
            0.10860443115234375,
            0.010571852326393127
        ],
        "angular_velocity": [
            0.00912431813776493,
            -0.49554193019866943,
            -2.739013910293579
        ],
        "forward_vector": [
            -0.9998184442520142,
            0.012765126302838326,
            0.014147404581308365
        ],
        "right_vector": [
            -0.012780562974512577,
            -0.9999178647994995,
            -0.0010012740967795253
        ],
        "location": [
            -18.96906280517578,
            4291.22216796875,
            372.4654846191406
        ],
        "rotation": [
            0.057374533265829086,
            0.8106136322021484,
            179.26852416992188
        ],
        "velocity": [
            -9.900275230407715,
            0.13700415194034576,
            0.04237653687596321
        ],
        "speed": 9.901223145423671,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.685482025146484,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -41.654296875,
                4291.26611328125,
                372.56170654296875
            ],
            "velocity": [
                -7.715325832366943,
                0.03870110958814621,
                0.03289084509015083
            ],
            "speed_kmh": 27.77577481169138,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.005179405212402,
                "transform": {
                    "location": {
                        "x": -59.088592529296875,
                        "y": 4301.31201171875,
                        "z": 372.6385192871094
                    },
                    "rotation": {
                        "roll": 0.001398141379468143,
                        "pitch": -0.24630343914031982,
                        "yaw": -0.2774047553539276
                    }
                },
                "velocity": {
                    "x": 8.005013465881348,
                    "y": -0.039816245436668396,
                    "z": -0.032689910382032394
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019980430603027,
                "transform": {
                    "location": {
                        "x": -59.13007736206055,
                        "y": 4298.06298828125,
                        "z": 372.6385498046875
                    },
                    "rotation": {
                        "roll": 0.0012199932243674994,
                        "pitch": -0.24264246225357056,
                        "yaw": -0.259979248046875
                    }
                },
                "velocity": {
                    "x": 8.019818305969238,
                    "y": -0.03853930905461311,
                    "z": -0.03341072052717209
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1727027893066406,
                "transform": {
                    "location": {
                        "x": 12.801875114440918,
                        "y": 4290.97021484375,
                        "z": 372.3250732421875
                    },
                    "rotation": {
                        "roll": -0.003479003207758069,
                        "pitch": 0.4683733582496643,
                        "yaw": 179.63827514648438
                    }
                },
                "velocity": {
                    "x": -2.172670841217041,
                    "y": 0.006712591275572777,
                    "z": 0.009684639051556587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5322322845458984,
                "transform": {
                    "location": {
                        "x": -2.185781240463257,
                        "y": 4291.08935546875,
                        "z": 372.4119873046875
                    },
                    "rotation": {
                        "roll": -0.01358032040297985,
                        "pitch": -0.9099723696708679,
                        "yaw": -179.5670623779297
                    }
                },
                "velocity": {
                    "x": -0.5322268009185791,
                    "y": 0.001886260462924838,
                    "z": 0.0015137004666030407
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.715493202209473,
                "transform": {
                    "location": {
                        "x": -41.654296875,
                        "y": 4291.26611328125,
                        "z": 372.56170654296875
                    },
                    "rotation": {
                        "roll": 0.0012464320752769709,
                        "pitch": 0.2352248728275299,
                        "yaw": 179.71482849121094
                    }
                },
                "velocity": {
                    "x": -7.715325832366943,
                    "y": 0.03870110958814621,
                    "z": 0.03289084509015083
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.033756256103516,
                "transform": {
                    "location": {
                        "x": -57.061092376708984,
                        "y": 4291.3564453125,
                        "z": 372.6257019042969
                    },
                    "rotation": {
                        "roll": 0.00046092848060652614,
                        "pitch": 0.2373763769865036,
                        "yaw": 179.70909118652344
                    }
                },
                "velocity": {
                    "x": -8.033575057983398,
                    "y": 0.04248175397515297,
                    "z": 0.033253975212574005
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.112861633300781,
                "transform": {
                    "location": {
                        "x": -0.23070311546325684,
                        "y": 4294.26953125,
                        "z": 372.37945556640625
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.20089633762836456,
                        "yaw": 179.69332885742188
                    }
                },
                "velocity": {
                    "x": -8.112663269042969,
                    "y": 0.04333200678229332,
                    "z": 0.03665238246321678
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.992136001586914,
                "transform": {
                    "location": {
                        "x": -16.735937118530273,
                        "y": 4294.3662109375,
                        "z": 372.45843505859375
                    },
                    "rotation": {
                        "roll": 0.0036914576776325703,
                        "pitch": 0.16825486719608307,
                        "yaw": 179.68014526367188
                    }
                },
                "velocity": {
                    "x": -8.99191951751709,
                    "y": 0.05029992014169693,
                    "z": 0.03698425367474556
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.5680832862854,
                "transform": {
                    "location": {
                        "x": -36.48695373535156,
                        "y": 4294.49462890625,
                        "z": 372.5389709472656
                    },
                    "rotation": {
                        "roll": 0.0016130623407661915,
                        "pitch": 0.7664769291877747,
                        "yaw": 179.74563598632812
                    }
                },
                "velocity": {
                    "x": -4.568003177642822,
                    "y": 0.02018747106194496,
                    "z": 0.017933063209056854
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.358951568603516,
                "transform": {
                    "location": {
                        "x": -55.83898162841797,
                        "y": 4294.6025390625,
                        "z": 372.63031005859375
                    },
                    "rotation": {
                        "roll": -0.0008850094163790345,
                        "pitch": 0.14600211381912231,
                        "yaw": 179.7501678466797
                    }
                },
                "velocity": {
                    "x": -8.358795166015625,
                    "y": 0.038599155843257904,
                    "z": 0.033753108233213425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32501691579818726,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.016920331865549088,
        "expert_target_speed": 9.767656012649764,
        "target_point": [
            40.507954539743096,
            0.27105298825211377
        ],
        "target_point_next": [
            91.5067634988216,
            0.6208628872043089
        ]
    },
    "85": {
        "acceleration": [
            -1.8569183349609375,
            0.13088077306747437,
            0.008841156959533691
        ],
        "angular_velocity": [
            -0.08259101957082748,
            -0.6982496380805969,
            1.1963874101638794
        ],
        "forward_vector": [
            -0.9998250007629395,
            0.015198799781501293,
            0.010905048809945583
        ],
        "right_vector": [
            -0.015207740478217602,
            -0.9998840689659119,
            -0.0007373842527158558
        ],
        "location": [
            -21.51851463317871,
            4291.259765625,
            372.4769592285156
        ],
        "rotation": [
            0.042251523584127426,
            0.624825656414032,
            179.12908935546875
        ],
        "velocity": [
            -10.44807243347168,
            0.1672568917274475,
            0.04427208751440048
        ],
        "speed": 10.449411105076743,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.067073822021484,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -43.58538818359375,
                4291.275390625,
                372.56976318359375
            ],
            "velocity": [
                -7.749452114105225,
                0.04056926071643829,
                0.03342222049832344
            ],
            "speed_kmh": 27.898669356834617,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -99.40437316894531,
                        "y": 4301.4541015625,
                        "z": 373.0481872558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -99.42359161376953,
                        "y": 4298.2041015625,
                        "z": 373.0481872558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.084957122802734,
                "transform": {
                    "location": {
                        "x": -57.07585906982422,
                        "y": 4301.30224609375,
                        "z": 372.6301574707031
                    },
                    "rotation": {
                        "roll": 0.0024440709967166185,
                        "pitch": -0.23095600306987762,
                        "yaw": -0.2940063178539276
                    }
                },
                "velocity": {
                    "x": 8.084783554077148,
                    "y": -0.041313547641038895,
                    "z": -0.03323359414935112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079712867736816,
                "transform": {
                    "location": {
                        "x": -57.115234375,
                        "y": 4298.05322265625,
                        "z": 372.6302185058594
                    },
                    "rotation": {
                        "roll": 0.0011315379524603486,
                        "pitch": -0.2320556640625,
                        "yaw": -0.313629150390625
                    }
                },
                "velocity": {
                    "x": 8.079527854919434,
                    "y": -0.04313551262021065,
                    "z": -0.03359374403953552
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6165841221809387,
                "transform": {
                    "location": {
                        "x": 12.62320327758789,
                        "y": 4290.97119140625,
                        "z": 372.3281555175781
                    },
                    "rotation": {
                        "roll": 0.001637113280594349,
                        "pitch": -0.12139977514743805,
                        "yaw": 179.677734375
                    }
                },
                "velocity": {
                    "x": -0.6165745258331299,
                    "y": 0.0019086955580860376,
                    "z": 0.00286039337515831
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4896647930145264,
                "transform": {
                    "location": {
                        "x": -2.5028905868530273,
                        "y": 4291.087890625,
                        "z": 372.4043273925781
                    },
                    "rotation": {
                        "roll": -0.00845336727797985,
                        "pitch": 0.22525963187217712,
                        "yaw": -179.69476318359375
                    }
                },
                "velocity": {
                    "x": -1.4896475076675415,
                    "y": -0.00243902625516057,
                    "z": 0.006747455336153507
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.749630451202393,
                "transform": {
                    "location": {
                        "x": -43.58538818359375,
                        "y": 4291.275390625,
                        "z": 372.56976318359375
                    },
                    "rotation": {
                        "roll": 0.0011481972178444266,
                        "pitch": 0.24022457003593445,
                        "yaw": 179.70132446289062
                    }
                },
                "velocity": {
                    "x": -7.749452114105225,
                    "y": 0.04056926071643829,
                    "z": 0.03342222049832344
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0783052444458,
                "transform": {
                    "location": {
                        "x": -59.076171875,
                        "y": 4291.36767578125,
                        "z": 372.6340026855469
                    },
                    "rotation": {
                        "roll": 0.0004548181896097958,
                        "pitch": 0.23781351745128632,
                        "yaw": 179.6896514892578
                    }
                },
                "velocity": {
                    "x": -8.078110694885254,
                    "y": 0.04467076063156128,
                    "z": 0.03373277559876442
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.863361358642578,
                "transform": {
                    "location": {
                        "x": -2.3450000286102295,
                        "y": 4294.28125,
                        "z": 372.3883361816406
                    },
                    "rotation": {
                        "roll": 0.00037276092916727066,
                        "pitch": 0.2809393107891083,
                        "yaw": 179.6896514892578
                    }
                },
                "velocity": {
                    "x": -8.86313533782959,
                    "y": 0.05030257999897003,
                    "z": 0.03850404545664787
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.77595043182373,
                "transform": {
                    "location": {
                        "x": -18.997812271118164,
                        "y": 4294.37939453125,
                        "z": 372.4679870605469
                    },
                    "rotation": {
                        "roll": 0.002277878113090992,
                        "pitch": 0.16876713931560516,
                        "yaw": 179.67103576660156
                    }
                },
                "velocity": {
                    "x": -8.775729179382324,
                    "y": 0.05032232031226158,
                    "z": 0.036784086376428604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.340089797973633,
                "transform": {
                    "location": {
                        "x": -37.76960754394531,
                        "y": 4294.50048828125,
                        "z": 372.5447998046875
                    },
                    "rotation": {
                        "roll": 0.001536608673632145,
                        "pitch": 0.7007022500038147,
                        "yaw": 179.74899291992188
                    }
                },
                "velocity": {
                    "x": -5.339986324310303,
                    "y": 0.023652255535125732,
                    "z": 0.02334647998213768
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.88596773147583,
                "transform": {
                    "location": {
                        "x": -57.866249084472656,
                        "y": 4294.6123046875,
                        "z": 372.6376953125
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": 0.2585567831993103,
                        "yaw": 179.7155303955078
                    }
                },
                "velocity": {
                    "x": -7.885788440704346,
                    "y": 0.04166658967733383,
                    "z": 0.033104658126831055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03420058265328407,
        "expert_target_speed": 10.0,
        "target_point": [
            37.957446280672926,
            0.36846412662143546
        ],
        "target_point_next": [
            88.95525306755947,
            0.842368270284413
        ]
    },
    "90": {
        "acceleration": [
            -1.61041259765625,
            0.12898266315460205,
            -0.006131380796432495
        ],
        "angular_velocity": [
            0.03322521224617958,
            -0.3109029233455658,
            -2.1511330604553223
        ],
        "forward_vector": [
            -0.9998010993003845,
            0.01789276860654354,
            0.008811241015791893
        ],
        "right_vector": [
            -0.017899299040436745,
            -0.9998395442962646,
            -0.0006627297261729836
        ],
        "location": [
            -24.184921264648438,
            4291.3056640625,
            372.4886779785156
        ],
        "rotation": [
            0.03797309473156929,
            0.5048534274101257,
            178.9747314453125
        ],
        "velocity": [
            -10.867755889892578,
            0.19946222007274628,
            0.04485304653644562
        ],
        "speed": 10.869586158613913,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.350664138793945,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -45.5353889465332,
                4291.28564453125,
                372.577880859375
            ],
            "velocity": [
                -7.828309535980225,
                0.043266117572784424,
                0.033276014029979706
            ],
            "speed_kmh": 28.18259935416557,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -97.32624816894531,
                        "y": 4301.44189453125,
                        "z": 372.9008483886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -97.34546661376953,
                        "y": 4298.19189453125,
                        "z": 372.9008483886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040495872497559,
                "transform": {
                    "location": {
                        "x": -55.059452056884766,
                        "y": 4301.291015625,
                        "z": 372.621826171875
                    },
                    "rotation": {
                        "roll": 0.0015937681309878826,
                        "pitch": -0.24090759456157684,
                        "yaw": -0.307861328125
                    }
                },
                "velocity": {
                    "x": 8.040312767028809,
                    "y": -0.04312257096171379,
                    "z": -0.03276452049612999
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041773796081543,
                "transform": {
                    "location": {
                        "x": -55.10007858276367,
                        "y": 4298.04150390625,
                        "z": 372.6218566894531
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.2407846450805664,
                        "yaw": -0.2961425185203552
                    }
                },
                "velocity": {
                    "x": 8.041584014892578,
                    "y": -0.043848104774951935,
                    "z": -0.03348720446228981
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4902262687683105,
                "transform": {
                    "location": {
                        "x": 12.350546836853027,
                        "y": 4290.9716796875,
                        "z": 372.3276062011719
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": 0.37469732761383057,
                        "yaw": 179.71170043945312
                    }
                },
                "velocity": {
                    "x": -1.490208387374878,
                    "y": 0.0037901243194937706,
                    "z": 0.006247968412935734
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.554669976234436,
                "transform": {
                    "location": {
                        "x": -2.878671884536743,
                        "y": 4291.0888671875,
                        "z": 372.4043273925781
                    },
                    "rotation": {
                        "roll": 0.002564219059422612,
                        "pitch": 0.4434090256690979,
                        "yaw": -179.6678009033203
                    }
                },
                "velocity": {
                    "x": -1.5546566247940063,
                    "y": -0.0023564822040498257,
                    "z": 0.006010932847857475
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.828499794006348,
                "transform": {
                    "location": {
                        "x": -45.5353889465332,
                        "y": 4291.28564453125,
                        "z": 372.577880859375
                    },
                    "rotation": {
                        "roll": 0.001744351233355701,
                        "pitch": 0.23944592475891113,
                        "yaw": 179.6890869140625
                    }
                },
                "velocity": {
                    "x": -7.828309535980225,
                    "y": 0.043266117572784424,
                    "z": 0.033276014029979706
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035395622253418,
                "transform": {
                    "location": {
                        "x": -61.09031295776367,
                        "y": 4291.37939453125,
                        "z": 372.642333984375
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.2368641197681427,
                        "yaw": 179.68252563476562
                    }
                },
                "velocity": {
                    "x": -8.035202980041504,
                    "y": 0.044533006846904755,
                    "z": 0.03351203724741936
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.14542007446289,
                "transform": {
                    "location": {
                        "x": -4.512499809265137,
                        "y": 4294.29345703125,
                        "z": 372.3983154296875
                    },
                    "rotation": {
                        "roll": 0.0002796345797833055,
                        "pitch": 0.22851762175559998,
                        "yaw": 179.67738342285156
                    }
                },
                "velocity": {
                    "x": -8.145209312438965,
                    "y": 0.045735687017440796,
                    "z": 0.03657732903957367
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.103837013244629,
                "transform": {
                    "location": {
                        "x": -21.07320213317871,
                        "y": 4294.39111328125,
                        "z": 372.47747802734375
                    },
                    "rotation": {
                        "roll": 0.0004526141274254769,
                        "pitch": 0.002738905604928732,
                        "yaw": 179.6699676513672
                    }
                },
                "velocity": {
                    "x": -8.103629112243652,
                    "y": 0.04671764373779297,
                    "z": 0.0345488078892231
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.531523704528809,
                "transform": {
                    "location": {
                        "x": -39.18390655517578,
                        "y": 4294.5068359375,
                        "z": 372.55078125
                    },
                    "rotation": {
                        "roll": 0.0016580274095758796,
                        "pitch": 0.6951287984848022,
                        "yaw": 179.72735595703125
                    }
                },
                "velocity": {
                    "x": -6.531404495239258,
                    "y": 0.029598774388432503,
                    "z": 0.026080502197146416
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031637191772461,
                "transform": {
                    "location": {
                        "x": -59.84515380859375,
                        "y": 4294.623046875,
                        "z": 372.6461181640625
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.2336607575416565,
                        "yaw": 179.6953887939453
                    }
                },
                "velocity": {
                    "x": -8.031442642211914,
                    "y": 0.04534318670630455,
                    "z": 0.032837752252817154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.056772902607917786,
        "expert_target_speed": 10.0,
        "target_point": [
            35.28951459344911,
            0.4689233296864983
        ],
        "target_point_next": [
            86.28585925154086,
            1.0802446225505211
        ]
    },
    "95": {
        "acceleration": [
            -1.2976646423339844,
            0.03751784563064575,
            -0.0006128847599029541
        ],
        "angular_velocity": [
            -0.1054687574505806,
            -0.19831176102161407,
            1.3236783742904663
        ],
        "forward_vector": [
            -0.9997819662094116,
            0.019368428736925125,
            0.007804552558809519
        ],
        "right_vector": [
            -0.019372370094060898,
            -0.9998122453689575,
            -0.00042961593135260046
        ],
        "location": [
            -26.950937271118164,
            4291.35791015625,
            372.50048828125
        ],
        "rotation": [
            0.024615930393338203,
            0.44717246294021606,
            178.89016723632812
        ],
        "velocity": [
            -11.235641479492188,
            0.21936529874801636,
            0.045417316257953644
        ],
        "speed": 11.237782725697281,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.533781051635742,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -47.48445129394531,
                4291.296875,
                372.5859375
            ],
            "velocity": [
                -7.763328552246094,
                0.04367522522807121,
                0.032824963331222534
            ],
            "speed_kmh": 27.948674880371712,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -95.24609375,
                        "y": 4301.4296875,
                        "z": 372.8072509765625
                    },
                    "rotation": {
                        "roll": 5.211063872079258e-11,
                        "pitch": -0.23355147242546082,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.506223201751709,
                "transform": {
                    "location": {
                        "x": -95.318359375,
                        "y": 4298.1806640625,
                        "z": 372.7882385253906
                    },
                    "rotation": {
                        "roll": -0.003326415317133069,
                        "pitch": -0.30523431301116943,
                        "yaw": -0.3161620795726776
                    }
                },
                "velocity": {
                    "x": 6.4979400634765625,
                    "y": -0.01515952218323946,
                    "z": -0.3278539180755615
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05505657196045,
                "transform": {
                    "location": {
                        "x": -53.04898452758789,
                        "y": 4301.279296875,
                        "z": 372.61346435546875
                    },
                    "rotation": {
                        "roll": 0.0010382611071690917,
                        "pitch": -0.23828479647636414,
                        "yaw": -0.3221435546875
                    }
                },
                "velocity": {
                    "x": 8.05486011505127,
                    "y": -0.0452876016497612,
                    "z": -0.033460043370723724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050189971923828,
                "transform": {
                    "location": {
                        "x": -53.08968734741211,
                        "y": 4298.02978515625,
                        "z": 372.61358642578125
                    },
                    "rotation": {
                        "roll": -0.0002136229450115934,
                        "pitch": -0.23831211030483246,
                        "yaw": -0.339752197265625
                    }
                },
                "velocity": {
                    "x": 8.049989700317383,
                    "y": -0.046304672956466675,
                    "z": -0.032802220433950424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1531753540039062,
                "transform": {
                    "location": {
                        "x": 11.868515014648438,
                        "y": 4290.97412109375,
                        "z": 372.3292541503906
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": 0.5338407158851624,
                        "yaw": 179.75390625
                    }
                },
                "velocity": {
                    "x": -2.1531448364257812,
                    "y": 0.005888928193598986,
                    "z": 0.00983833335340023
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.612290143966675,
                "transform": {
                    "location": {
                        "x": -3.371718645095825,
                        "y": 4291.087890625,
                        "z": 372.4062805175781
                    },
                    "rotation": {
                        "roll": 0.006281599868088961,
                        "pitch": 0.45164623856544495,
                        "yaw": -179.73451232910156
                    }
                },
                "velocity": {
                    "x": -2.6122634410858154,
                    "y": -0.0038938121870160103,
                    "z": 0.011161441914737225
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.76352071762085,
                "transform": {
                    "location": {
                        "x": -47.48445129394531,
                        "y": 4291.296875,
                        "z": 372.5859375
                    },
                    "rotation": {
                        "roll": 0.0017808971460908651,
                        "pitch": 0.23803891241550446,
                        "yaw": 179.67752075195312
                    }
                },
                "velocity": {
                    "x": -7.763328552246094,
                    "y": 0.04367522522807121,
                    "z": 0.032824963331222534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.06838607788086,
                "transform": {
                    "location": {
                        "x": -63.10320281982422,
                        "y": 4291.39111328125,
                        "z": 372.6506652832031
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.2366933673620224,
                        "yaw": 179.67767333984375
                    }
                },
                "velocity": {
                    "x": -8.06818962097168,
                    "y": 0.04530298709869385,
                    "z": 0.03344196081161499
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.241542339324951,
                "transform": {
                    "location": {
                        "x": -6.424296855926514,
                        "y": 4294.30419921875,
                        "z": 372.4070129394531
                    },
                    "rotation": {
                        "roll": 0.00035468602436594665,
                        "pitch": 0.19694849848747253,
                        "yaw": 179.67556762695312
                    }
                },
                "velocity": {
                    "x": -7.241351127624512,
                    "y": 0.041138503700494766,
                    "z": 0.03281458839774132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.462176322937012,
                "transform": {
                    "location": {
                        "x": -22.989295959472656,
                        "y": 4294.40283203125,
                        "z": 372.4855651855469
                    },
                    "rotation": {
                        "roll": 0.0017823240486904979,
                        "pitch": -0.018680566921830177,
                        "yaw": 179.66506958007812
                    }
                },
                "velocity": {
                    "x": -7.461975574493408,
                    "y": 0.04373994842171669,
                    "z": 0.032844800502061844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.868870735168457,
                "transform": {
                    "location": {
                        "x": -40.99210739135742,
                        "y": 4294.51513671875,
                        "z": 372.5576477050781
                    },
                    "rotation": {
                        "roll": 0.0010374697158113122,
                        "pitch": 0.837360680103302,
                        "yaw": 179.74371337890625
                    }
                },
                "velocity": {
                    "x": -7.868716716766357,
                    "y": 0.03691074624657631,
                    "z": 0.03263765200972557
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05434513092041,
                "transform": {
                    "location": {
                        "x": -61.86375045776367,
                        "y": 4294.634765625,
                        "z": 372.6545715332031
                    },
                    "rotation": {
                        "roll": -6.103513442212716e-05,
                        "pitch": 0.22716525197029114,
                        "yaw": 179.6873779296875
                    }
                },
                "velocity": {
                    "x": -8.054157257080078,
                    "y": 0.043924182653427124,
                    "z": 0.03323787450790405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07937124371528625,
        "expert_target_speed": 10.0,
        "target_point": [
            32.52227505505402,
            0.5196651814571686
        ],
        "target_point_next": [
            83.51766198331057,
            1.2062467479096886
        ]
    },
    "100": {
        "acceleration": [
            -0.9141921997070312,
            -0.05394339561462402,
            0.016538947820663452
        ],
        "angular_velocity": [
            -0.11977304518222809,
            -0.20047439634799957,
            -1.0306003093719482
        ],
        "forward_vector": [
            -0.999794065952301,
            0.019075362011790276,
            0.006924096494913101
        ],
        "right_vector": [
            -0.019075701013207436,
            -0.9998180270195007,
            1.7043808838934638e-05
        ],
        "location": [
            -29.79523277282715,
            4291.41259765625,
            372.5124206542969
        ],
        "rotation": [
            -0.000976561801508069,
            0.396724671125412,
            178.90696716308594
        ],
        "velocity": [
            -11.497145652770996,
            0.2135947346687317,
            0.048468854278326035
        ],
        "speed": 11.49912957017657,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.795490741729736,
                "transform": {
                    "location": {
                        "x": -93.51538848876953,
                        "y": 4301.42822265625,
                        "z": 372.7875671386719
                    },
                    "rotation": {
                        "roll": 0.011199853383004665,
                        "pitch": -0.1412346512079239,
                        "yaw": -0.0633850023150444
                    }
                },
                "velocity": {
                    "x": 6.795097351074219,
                    "y": 0.03416598215699196,
                    "z": -0.06463580578565598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.14055871963501,
                "transform": {
                    "location": {
                        "x": -93.75492095947266,
                        "y": 4298.1826171875,
                        "z": 372.76904296875
                    },
                    "rotation": {
                        "roll": -0.007415770553052425,
                        "pitch": -0.2884252071380615,
                        "yaw": 0.02965145744383335
                    }
                },
                "velocity": {
                    "x": 6.140474796295166,
                    "y": 0.028378071263432503,
                    "z": -0.01496573444455862
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054803848266602,
                "transform": {
                    "location": {
                        "x": -51.034217834472656,
                        "y": 4301.267578125,
                        "z": 372.6051025390625
                    },
                    "rotation": {
                        "roll": 0.000580651278141886,
                        "pitch": -0.23788180947303772,
                        "yaw": -0.3231506049633026
                    }
                },
                "velocity": {
                    "x": 8.054606437683105,
                    "y": -0.04535631462931633,
                    "z": -0.03352272883057594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057387351989746,
                "transform": {
                    "location": {
                        "x": -51.07546615600586,
                        "y": 4298.01806640625,
                        "z": 372.605224609375
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.2375812828540802,
                        "yaw": -0.3116454780101776
                    }
                },
                "velocity": {
                    "x": 8.057183265686035,
                    "y": -0.04648738354444504,
                    "z": -0.0334516316652298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.9831132888793945,
                "transform": {
                    "location": {
                        "x": -8.172656059265137,
                        "y": 4294.31396484375,
                        "z": 372.41455078125
                    },
                    "rotation": {
                        "roll": 0.0006503579206764698,
                        "pitch": 0.22787559032440186,
                        "yaw": 179.67283630371094
                    }
                },
                "velocity": {
                    "x": -6.9829254150390625,
                    "y": 0.04125038534402847,
                    "z": 0.03044631890952587
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.244970321655273,
                "transform": {
                    "location": {
                        "x": -24.939374923706055,
                        "y": 4294.41455078125,
                        "z": 372.49261474609375
                    },
                    "rotation": {
                        "roll": 0.0014138463884592056,
                        "pitch": 0.3342694342136383,
                        "yaw": 179.6609649658203
                    }
                },
                "velocity": {
                    "x": -8.244757652282715,
                    "y": 0.048798155039548874,
                    "z": 0.03362603113055229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.337627410888672,
                "transform": {
                    "location": {
                        "x": -43.064842224121094,
                        "y": 4294.525390625,
                        "z": 372.5670471191406
                    },
                    "rotation": {
                        "roll": 0.004256843123584986,
                        "pitch": 0.6450566649436951,
                        "yaw": 179.69769287109375
                    }
                },
                "velocity": {
                    "x": -8.337446212768555,
                    "y": 0.043663423508405685,
                    "z": 0.033477313816547394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031170845031738,
                "transform": {
                    "location": {
                        "x": -63.87289047241211,
                        "y": 4294.64599609375,
                        "z": 372.6627197265625
                    },
                    "rotation": {
                        "roll": 0.0008245222270488739,
                        "pitch": 0.2398625761270523,
                        "yaw": 179.6871337890625
                    }
                },
                "velocity": {
                    "x": -8.030981063842773,
                    "y": 0.04383179545402527,
                    "z": 0.03359738364815712
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09895257651805878,
        "expert_target_speed": 10.0,
        "target_point": [
            29.677604888445263,
            0.5105485932460957
        ],
        "target_point_next": [
            80.67319096731376,
            1.1821754857291327
        ]
    },
    "105": {
        "acceleration": [
            -0.6992912292480469,
            -0.11103540658950806,
            -0.011184513568878174
        ],
        "angular_velocity": [
            -0.1227610632777214,
            -0.13062268495559692,
            1.9474766254425049
        ],
        "forward_vector": [
            -0.9998422265052795,
            0.016625655815005302,
            0.006252128630876541
        ],
        "right_vector": [
            -0.01662314310669899,
            -0.9998617172241211,
            0.0004537937056738883
        ],
        "location": [
            -32.6955451965332,
            4291.46337890625,
            372.52471923828125
        ],
        "rotation": [
            -0.02600097469985485,
            0.3582229018211365,
            179.04736328125
        ],
        "velocity": [
            -11.691656112670898,
            0.19005504250526428,
            0.048747748136520386
        ],
        "speed": 11.693200741291346,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.711885452270508,
                "transform": {
                    "location": {
                        "x": -91.82796478271484,
                        "y": 4301.43603515625,
                        "z": 372.77764892578125
                    },
                    "rotation": {
                        "roll": 0.0008903550915420055,
                        "pitch": -0.22043068706989288,
                        "yaw": 0.19138877093791962
                    }
                },
                "velocity": {
                    "x": 6.711698055267334,
                    "y": 0.03992811217904091,
                    "z": -0.03033572994172573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.372847080230713,
                "transform": {
                    "location": {
                        "x": -92.1890640258789,
                        "y": 4298.1884765625,
                        "z": 372.76422119140625
                    },
                    "rotation": {
                        "roll": -0.004547119140625,
                        "pitch": -0.24444562196731567,
                        "yaw": 0.21938247978687286
                    }
                },
                "velocity": {
                    "x": 6.372717380523682,
                    "y": 0.03341691195964813,
                    "z": -0.023151010274887085
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05467700958252,
                "transform": {
                    "location": {
                        "x": -49.02109146118164,
                        "y": 4301.255859375,
                        "z": 372.59674072265625
                    },
                    "rotation": {
                        "roll": 0.0013215518556535244,
                        "pitch": -0.2398352473974228,
                        "yaw": -0.32583609223365784
                    }
                },
                "velocity": {
                    "x": 8.054471015930176,
                    "y": -0.04680391028523445,
                    "z": -0.03364984318614006
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049251556396484,
                "transform": {
                    "location": {
                        "x": -49.0627326965332,
                        "y": 4298.00634765625,
                        "z": 372.59686279296875
                    },
                    "rotation": {
                        "roll": -0.0017395016038790345,
                        "pitch": -0.23916588723659515,
                        "yaw": -0.34625235199928284
                    }
                },
                "velocity": {
                    "x": 8.049052238464355,
                    "y": -0.04638452082872391,
                    "z": -0.032598599791526794
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.007547378540039,
                "transform": {
                    "location": {
                        "x": -10.039765357971191,
                        "y": 4294.32470703125,
                        "z": 372.4222717285156
                    },
                    "rotation": {
                        "roll": 0.00016454716387670487,
                        "pitch": 0.29421037435531616,
                        "yaw": 179.66879272460938
                    }
                },
                "velocity": {
                    "x": -8.007339477539062,
                    "y": 0.046515319496393204,
                    "z": 0.034199025481939316
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.937182426452637,
                "transform": {
                    "location": {
                        "x": -27.1143741607666,
                        "y": 4294.427734375,
                        "z": 372.50091552734375
                    },
                    "rotation": {
                        "roll": 0.0007077596383169293,
                        "pitch": 0.5148528218269348,
                        "yaw": 179.66110229492188
                    }
                },
                "velocity": {
                    "x": -8.936949729919434,
                    "y": 0.05283660814166069,
                    "z": 0.03701520711183548
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.803956985473633,
                "transform": {
                    "location": {
                        "x": -45.06960678100586,
                        "y": 4294.53515625,
                        "z": 372.5768127441406
                    },
                    "rotation": {
                        "roll": 0.0031287847086787224,
                        "pitch": 0.23394079506397247,
                        "yaw": 179.7141571044922
                    }
                },
                "velocity": {
                    "x": -7.803778648376465,
                    "y": 0.040763113647699356,
                    "z": 0.03348281607031822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998995780944824,
                "transform": {
                    "location": {
                        "x": -65.87515258789062,
                        "y": 4294.658203125,
                        "z": 372.6710205078125
                    },
                    "rotation": {
                        "roll": -6.10351053182967e-05,
                        "pitch": 0.23364709317684174,
                        "yaw": 179.68508911132812
                    }
                },
                "velocity": {
                    "x": -7.998798847198486,
                    "y": 0.045600924640893936,
                    "z": 0.03280198946595192
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11121644079685211,
        "expert_target_speed": 10.0,
        "target_point": [
            26.77801103928786,
            0.4403780215717265
        ],
        "target_point_next": [
            77.77508980680594,
            0.9870400648390498
        ]
    },
    "110": {
        "acceleration": [
            -0.6747245788574219,
            -0.12861758470535278,
            0.008611530065536499
        ],
        "angular_velocity": [
            -0.013756120577454567,
            -0.06386598199605942,
            -0.5840063095092773
        ],
        "forward_vector": [
            -0.9998844265937805,
            0.014014407992362976,
            0.0058891428634524345
        ],
        "right_vector": [
            -0.014010438695549965,
            -0.9999015927314758,
            0.0007147798896767199
        ],
        "location": [
            -35.64046859741211,
            4291.50732421875,
            372.5371398925781
        ],
        "rotation": [
            -0.0409545861184597,
            0.33742499351501465,
            179.19699096679688
        ],
        "velocity": [
            -11.862353324890137,
            0.15964826941490173,
            0.04872887581586838
        ],
        "speed": 11.863427581203473,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.782649040222168,
                "transform": {
                    "location": {
                        "x": -90.14093780517578,
                        "y": 4301.4443359375,
                        "z": 372.7708435058594
                    },
                    "rotation": {
                        "roll": -0.007781981490552425,
                        "pitch": -0.23309385776519775,
                        "yaw": 0.26945680379867554
                    }
                },
                "velocity": {
                    "x": 6.782586574554443,
                    "y": 0.010823213495314121,
                    "z": -0.026985201984643936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.296388626098633,
                "transform": {
                    "location": {
                        "x": -90.73320007324219,
                        "y": 4298.1962890625,
                        "z": 372.7590026855469
                    },
                    "rotation": {
                        "roll": -0.0036315915640443563,
                        "pitch": -0.2872640788555145,
                        "yaw": 0.2858864963054657
                    }
                },
                "velocity": {
                    "x": 5.296263694763184,
                    "y": 0.029351791366934776,
                    "z": -0.021453512832522392
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049327850341797,
                "transform": {
                    "location": {
                        "x": -47.00843811035156,
                        "y": 4301.244140625,
                        "z": 372.5883483886719
                    },
                    "rotation": {
                        "roll": 0.0009379363618791103,
                        "pitch": -0.23916588723659515,
                        "yaw": -0.33099365234375
                    }
                },
                "velocity": {
                    "x": 8.049124717712402,
                    "y": -0.04642792046070099,
                    "z": -0.03326614201068878
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053764343261719,
                "transform": {
                    "location": {
                        "x": -47.05007553100586,
                        "y": 4297.99462890625,
                        "z": 372.5885009765625
                    },
                    "rotation": {
                        "roll": -0.0025024416390806437,
                        "pitch": -0.238803893327713,
                        "yaw": -0.3125
                    }
                },
                "velocity": {
                    "x": 8.053559303283691,
                    "y": -0.04656332731246948,
                    "z": -0.03360062465071678
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.678031921386719,
                "transform": {
                    "location": {
                        "x": -12.1685152053833,
                        "y": 4294.33740234375,
                        "z": 372.431396484375
                    },
                    "rotation": {
                        "roll": 7.496447506127879e-05,
                        "pitch": 0.30028924345970154,
                        "yaw": 179.66578674316406
                    }
                },
                "velocity": {
                    "x": -8.677796363830566,
                    "y": 0.05207855999469757,
                    "z": 0.03717675060033798
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.988588809967041,
                "transform": {
                    "location": {
                        "x": -29.239608764648438,
                        "y": 4294.4404296875,
                        "z": 372.5113220214844
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 0.11549849063158035,
                        "yaw": 179.66531372070312
                    }
                },
                "velocity": {
                    "x": -7.988388538360596,
                    "y": 0.04549362510442734,
                    "z": 0.03361261263489723
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.09110164642334,
                "transform": {
                    "location": {
                        "x": -47.043983459472656,
                        "y": 4294.54638671875,
                        "z": 372.5848693847656
                    },
                    "rotation": {
                        "roll": 0.00233735260553658,
                        "pitch": 0.2917788326740265,
                        "yaw": 179.6706085205078
                    }
                },
                "velocity": {
                    "x": -8.090907096862793,
                    "y": 0.04480842873454094,
                    "z": 0.03388077765703201
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.067595481872559,
                "transform": {
                    "location": {
                        "x": -67.88491821289062,
                        "y": 4294.66943359375,
                        "z": 372.6793212890625
                    },
                    "rotation": {
                        "roll": 0.0007593279588036239,
                        "pitch": 0.23323728144168854,
                        "yaw": 179.68382263183594
                    }
                },
                "velocity": {
                    "x": -8.067403793334961,
                    "y": 0.04449418559670448,
                    "z": 0.033438920974731445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11587746441364288,
        "expert_target_speed": 10.0,
        "target_point": [
            23.833819589032345,
            0.3731236200393867
        ],
        "target_point_next": [
            74.83215192416992,
            0.7866224046249208
        ]
    },
    "115": {
        "acceleration": [
            -0.6345176696777344,
            -0.13122349977493286,
            0.009082630276679993
        ],
        "angular_velocity": [
            -0.012916180305182934,
            -0.014674097299575806,
            1.839779257774353
        ],
        "forward_vector": [
            -0.99992436170578,
            0.010898347944021225,
            0.0057023451663553715
        ],
        "right_vector": [
            -0.010893850587308407,
            -0.9999403357505798,
            0.0008191748056560755
        ],
        "location": [
            -38.62757873535156,
            4291.54345703125,
            372.5496826171875
        ],
        "rotation": [
            -0.0469360314309597,
            0.32672208547592163,
            179.37554931640625
        ],
        "velocity": [
            -12.026907920837402,
            0.1270166039466858,
            0.04899038374423981
        ],
        "speed": 12.027578615580927,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.134406566619873,
                "transform": {
                    "location": {
                        "x": -88.52179718017578,
                        "y": 4301.4462890625,
                        "z": 372.7638854980469
                    },
                    "rotation": {
                        "roll": -0.005279541481286287,
                        "pitch": -0.1832539588212967,
                        "yaw": 0.11402846872806549
                    }
                },
                "velocity": {
                    "x": 6.134356498718262,
                    "y": 0.00028659283998422325,
                    "z": -0.02481241710484028
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.69818639755249,
                "transform": {
                    "location": {
                        "x": -89.39311981201172,
                        "y": 4298.1982421875,
                        "z": 372.7531433105469
                    },
                    "rotation": {
                        "roll": 0.0009591543930582702,
                        "pitch": -0.23305970430374146,
                        "yaw": 0.17887824773788452
                    }
                },
                "velocity": {
                    "x": 5.698141574859619,
                    "y": -3.046074380108621e-05,
                    "z": -0.02250535413622856
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059327125549316,
                "transform": {
                    "location": {
                        "x": -44.994686126708984,
                        "y": 4301.232421875,
                        "z": 372.5799865722656
                    },
                    "rotation": {
                        "roll": 0.00041338143637403846,
                        "pitch": -0.2395278960466385,
                        "yaw": -0.3348998427391052
                    }
                },
                "velocity": {
                    "x": 8.05911922454834,
                    "y": -0.047165654599666595,
                    "z": -0.03346504643559456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0513334274292,
                "transform": {
                    "location": {
                        "x": -45.03640365600586,
                        "y": 4297.98291015625,
                        "z": 372.5801086425781
                    },
                    "rotation": {
                        "roll": 7.338338036788628e-05,
                        "pitch": -0.2396918088197708,
                        "yaw": -0.3455199897289276
                    }
                },
                "velocity": {
                    "x": 8.05113410949707,
                    "y": -0.04614818096160889,
                    "z": -0.03277304396033287
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.489940166473389,
                "transform": {
                    "location": {
                        "x": -14.194062232971191,
                        "y": 4294.34912109375,
                        "z": 372.4408874511719
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.19878581166267395,
                        "yaw": 179.65855407714844
                    }
                },
                "velocity": {
                    "x": -7.489739418029785,
                    "y": 0.04463149979710579,
                    "z": 0.031870126724243164
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.497692108154297,
                "transform": {
                    "location": {
                        "x": -31.140233993530273,
                        "y": 4294.45166015625,
                        "z": 372.51953125
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.016576867550611496,
                        "yaw": 179.6707305908203
                    }
                },
                "velocity": {
                    "x": -7.49749755859375,
                    "y": 0.04304952546954155,
                    "z": 0.032602425664663315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.081045150756836,
                "transform": {
                    "location": {
                        "x": -49.08116912841797,
                        "y": 4294.55810546875,
                        "z": 372.5933837890625
                    },
                    "rotation": {
                        "roll": 0.0025359473656862974,
                        "pitch": 0.28151988983154297,
                        "yaw": 179.6966094970703
                    }
                },
                "velocity": {
                    "x": -8.080849647521973,
                    "y": 0.0450151301920414,
                    "z": 0.033507298678159714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.993474960327148,
                "transform": {
                    "location": {
                        "x": -69.89163970947266,
                        "y": 4294.681640625,
                        "z": 372.6875305175781
                    },
                    "rotation": {
                        "roll": 0.0003541599144227803,
                        "pitch": 0.23647479712963104,
                        "yaw": 179.6833038330078
                    }
                },
                "velocity": {
                    "x": -7.993284225463867,
                    "y": 0.0441739484667778,
                    "z": 0.03311270475387573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11444908380508423,
        "expert_target_speed": 10.0,
        "target_point": [
            20.847540190138826,
            0.302417321097842
        ],
        "target_point_next": [
            71.84691355726649,
            0.5569725612747355
        ]
    },
    "120": {
        "acceleration": [
            -0.4332923889160156,
            -0.1452803611755371,
            -0.002977028489112854
        ],
        "angular_velocity": [
            -0.01210166048258543,
            -0.06086162477731705,
            -0.45809072256088257
        ],
        "forward_vector": [
            -0.9999516606330872,
            0.0081631513312459,
            0.00548073835670948
        ],
        "right_vector": [
            -0.008158495649695396,
            -0.9999663829803467,
            0.0008713729330338538
        ],
        "location": [
            -41.65187454223633,
            4291.5712890625,
            372.5622863769531
        ],
        "rotation": [
            -0.0499267503619194,
            0.31402474641799927,
            179.5322723388672
        ],
        "velocity": [
            -12.154370307922363,
            0.09265804290771484,
            0.048932865262031555
        ],
        "speed": 12.15472348903998,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.503028869628906,
                "transform": {
                    "location": {
                        "x": -86.96398162841797,
                        "y": 4301.44677734375,
                        "z": 372.75799560546875
                    },
                    "rotation": {
                        "roll": -0.00238037109375,
                        "pitch": -0.246856689453125,
                        "yaw": 0.037735555320978165
                    }
                },
                "velocity": {
                    "x": 6.502975940704346,
                    "y": -0.001591479405760765,
                    "z": -0.026158183813095093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.813826560974121,
                "transform": {
                    "location": {
                        "x": -87.89742279052734,
                        "y": 4298.19873046875,
                        "z": 372.7467041015625
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": -0.18094536662101746,
                        "yaw": 0.02264580875635147
                    }
                },
                "velocity": {
                    "x": 6.813765048980713,
                    "y": -0.0024830352049320936,
                    "z": -0.028791122138500214
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046427726745605,
                "transform": {
                    "location": {
                        "x": -42.98187255859375,
                        "y": 4301.220703125,
                        "z": 372.57159423828125
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.2401426136493683,
                        "yaw": -0.3319092094898224
                    }
                },
                "velocity": {
                    "x": 8.046222686767578,
                    "y": -0.04662999138236046,
                    "z": -0.03346675634384155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051785469055176,
                "transform": {
                    "location": {
                        "x": -43.02288818359375,
                        "y": 4297.97119140625,
                        "z": 372.5717468261719
                    },
                    "rotation": {
                        "roll": 0.000636400596704334,
                        "pitch": -0.240108460187912,
                        "yaw": -0.3192443251609802
                    }
                },
                "velocity": {
                    "x": 8.051581382751465,
                    "y": -0.047344870865345,
                    "z": -0.03222924470901489
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.848252773284912,
                "transform": {
                    "location": {
                        "x": -15.958125114440918,
                        "y": 4294.359375,
                        "z": 372.4484558105469
                    },
                    "rotation": {
                        "roll": 0.0006389616173692048,
                        "pitch": 0.2018047571182251,
                        "yaw": 179.65878295898438
                    }
                },
                "velocity": {
                    "x": -6.8480706214904785,
                    "y": 0.04076521843671799,
                    "z": 0.028814582154154778
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.361242294311523,
                "transform": {
                    "location": {
                        "x": -33.11148452758789,
                        "y": 4294.4638671875,
                        "z": 372.5265808105469
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.3723955452442169,
                        "yaw": 179.67137145996094
                    }
                },
                "velocity": {
                    "x": -8.361035346984863,
                    "y": 0.04799342155456543,
                    "z": 0.03395010903477669
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.937546730041504,
                "transform": {
                    "location": {
                        "x": -51.073280334472656,
                        "y": 4294.56982421875,
                        "z": 372.6019592285156
                    },
                    "rotation": {
                        "roll": 0.0022562425583601,
                        "pitch": 0.20911306142807007,
                        "yaw": 179.66322326660156
                    }
                },
                "velocity": {
                    "x": -7.937345027923584,
                    "y": 0.04578069970011711,
                    "z": 0.03326993063092232
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058761596679688,
                "transform": {
                    "location": {
                        "x": -71.89820098876953,
                        "y": 4294.69287109375,
                        "z": 372.69586181640625
                    },
                    "rotation": {
                        "roll": -0.00021362297411542386,
                        "pitch": 0.2330118864774704,
                        "yaw": 179.68377685546875
                    }
                },
                "velocity": {
                    "x": -8.058568954467773,
                    "y": 0.04451679438352585,
                    "z": 0.03333050757646561
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11815625429153442,
        "expert_target_speed": 10.0,
        "target_point": [
            17.823867242891662,
            0.248529583849066
        ],
        "target_point_next": [
            68.82374614519175,
            0.36356940616384414
        ]
    },
    "125": {
        "acceleration": [
            -0.3587150573730469,
            -0.14223642647266388,
            0.00346451997756958
        ],
        "angular_velocity": [
            0.04459114372730255,
            -0.07598518580198288,
            1.7816895246505737
        ],
        "forward_vector": [
            -0.9999738335609436,
            0.005001844838261604,
            0.005230283830314875
        ],
        "right_vector": [
            -0.004997247830033302,
            -0.9999870657920837,
            0.0008916138904169202
        ],
        "location": [
            -44.70296859741211,
            4291.5908203125,
            372.5750427246094
        ],
        "rotation": [
            -0.0510864183306694,
            0.29967454075813293,
            179.71340942382812
        ],
        "velocity": [
            -12.249077796936035,
            0.05735122039914131,
            0.04938298091292381
        ],
        "speed": 12.249212057837543,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.138792037963867,
                "transform": {
                    "location": {
                        "x": -85.23054504394531,
                        "y": 4301.4462890625,
                        "z": 372.75140380859375
                    },
                    "rotation": {
                        "roll": -0.004638671409338713,
                        "pitch": -0.30352675914764404,
                        "yaw": -0.006652831565588713
                    }
                },
                "velocity": {
                    "x": 7.138712406158447,
                    "y": -0.016066931188106537,
                    "z": -0.029648074880242348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.411643981933594,
                "transform": {
                    "location": {
                        "x": -85.92335510253906,
                        "y": 4298.1982421875,
                        "z": 372.7381896972656
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.13214366137981415,
                        "yaw": -0.02764892578125
                    }
                },
                "velocity": {
                    "x": 8.411572456359863,
                    "y": -0.005757956765592098,
                    "z": -0.034276027232408524
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0598726272583,
                "transform": {
                    "location": {
                        "x": -40.96828079223633,
                        "y": 4301.208984375,
                        "z": 372.563232421875
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.23998551070690155,
                        "yaw": -0.33154296875
                    }
                },
                "velocity": {
                    "x": 8.059667587280273,
                    "y": -0.04670565202832222,
                    "z": -0.03352198004722595
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052155494689941,
                "transform": {
                    "location": {
                        "x": -41.00929641723633,
                        "y": 4297.95947265625,
                        "z": 372.5633544921875
                    },
                    "rotation": {
                        "roll": 0.0016989132855087519,
                        "pitch": -0.2398967146873474,
                        "yaw": -0.3495788276195526
                    }
                },
                "velocity": {
                    "x": 8.051942825317383,
                    "y": -0.04780619218945503,
                    "z": -0.033623360097408295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.657480239868164,
                "transform": {
                    "location": {
                        "x": -17.756093978881836,
                        "y": 4294.3701171875,
                        "z": 372.45562744140625
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": 0.2724084258079529,
                        "yaw": 179.65809631347656
                    }
                },
                "velocity": {
                    "x": -7.657273292541504,
                    "y": 0.04559861868619919,
                    "z": 0.032976046204566956
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.511724472045898,
                "transform": {
                    "location": {
                        "x": -35.211326599121094,
                        "y": 4294.47509765625,
                        "z": 372.53515625
                    },
                    "rotation": {
                        "roll": 0.00024751623277552426,
                        "pitch": 0.402168333530426,
                        "yaw": 179.67156982421875
                    }
                },
                "velocity": {
                    "x": -8.511513710021973,
                    "y": 0.04874459654092789,
                    "z": 0.03467987850308418
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.083708763122559,
                "transform": {
                    "location": {
                        "x": -53.078670501708984,
                        "y": 4294.58154296875,
                        "z": 372.6100769042969
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": 0.268207848072052,
                        "yaw": 179.69082641601562
                    }
                },
                "velocity": {
                    "x": -8.083517074584961,
                    "y": 0.044536661356687546,
                    "z": 0.033325642347335815
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00059986114502,
                "transform": {
                    "location": {
                        "x": -73.90570068359375,
                        "y": 4294.705078125,
                        "z": 372.7041320800781
                    },
                    "rotation": {
                        "roll": 0.000691014516633004,
                        "pitch": 0.234104722738266,
                        "yaw": 179.6837921142578
                    }
                },
                "velocity": {
                    "x": -8.000412940979004,
                    "y": 0.04409430921077728,
                    "z": 0.032366637140512466
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11057110130786896,
        "expert_target_speed": 10.0,
        "target_point": [
            14.773410300069518,
            0.19645044236405917
        ],
        "target_point_next": [
            65.77339802959915,
            0.15025739290394866
        ]
    },
    "130": {
        "acceleration": [
            -0.28228759765625,
            -0.15025854110717773,
            0.011885464191436768
        ],
        "angular_velocity": [
            -0.012992436066269875,
            -0.03663669154047966,
            -0.38909557461738586
        ],
        "forward_vector": [
            -0.9999849200248718,
            0.0022071620915085077,
            0.0050328755751252174
        ],
        "right_vector": [
            -0.002202602569013834,
            -0.9999971389770508,
            0.000911321840249002
        ],
        "location": [
            -47.77570343017578,
            4291.60107421875,
            372.5877685546875
        ],
        "rotation": [
            -0.052215561270713806,
            0.2883637547492981,
            179.87353515625
        ],
        "velocity": [
            -12.327475547790527,
            0.020904408767819405,
            0.0519859679043293
        ],
        "speed": 12.327493272181465,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -125.28257751464844,
                        "y": 4301.607421875,
                        "z": 372.97760009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22500690817832947,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.73196792602539,
                "transform": {
                    "location": {
                        "x": -83.2125015258789,
                        "y": 4301.44140625,
                        "z": 372.74371337890625
                    },
                    "rotation": {
                        "roll": -0.004669188987463713,
                        "pitch": -0.3761863112449646,
                        "yaw": -0.13629150390625
                    }
                },
                "velocity": {
                    "x": 8.73184585571289,
                    "y": -0.029323607683181763,
                    "z": -0.03553974628448486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.039405822753906,
                "transform": {
                    "location": {
                        "x": -83.85671997070312,
                        "y": 4298.1943359375,
                        "z": 372.73052978515625
                    },
                    "rotation": {
                        "roll": 0.001436550635844469,
                        "pitch": -0.23022517561912537,
                        "yaw": -0.1251830905675888
                    }
                },
                "velocity": {
                    "x": 8.039292335510254,
                    "y": -0.026312781497836113,
                    "z": -0.033627599477767944
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046774864196777,
                "transform": {
                    "location": {
                        "x": -38.95492172241211,
                        "y": 4301.197265625,
                        "z": 372.5548400878906
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": -0.2404772937297821,
                        "yaw": -0.331939697265625
                    }
                },
                "velocity": {
                    "x": 8.046573638916016,
                    "y": -0.04661507532000542,
                    "z": -0.03255369886755943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051721572875977,
                "transform": {
                    "location": {
                        "x": -38.99562454223633,
                        "y": 4297.94775390625,
                        "z": 372.5549621582031
                    },
                    "rotation": {
                        "roll": 0.0005180998705327511,
                        "pitch": -0.23971913754940033,
                        "yaw": -0.31857290863990784
                    }
                },
                "velocity": {
                    "x": 8.05151081085205,
                    "y": -0.047429729253053665,
                    "z": -0.03370572626590729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -125.30179595947266,
                        "y": 4298.357421875,
                        "z": 372.97760009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22500690817832947,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.526731491088867,
                "transform": {
                    "location": {
                        "x": -19.807109832763672,
                        "y": 4294.3828125,
                        "z": 372.4641418457031
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.30245441198349,
                        "yaw": 179.65460205078125
                    }
                },
                "velocity": {
                    "x": -8.526496887207031,
                    "y": 0.051413267850875854,
                    "z": 0.0370061881840229
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9835076332092285,
                "transform": {
                    "location": {
                        "x": -37.26882553100586,
                        "y": 4294.48681640625,
                        "z": 372.5445556640625
                    },
                    "rotation": {
                        "roll": 0.0010811768006533384,
                        "pitch": 0.16924524307250977,
                        "yaw": 179.6673583984375
                    }
                },
                "velocity": {
                    "x": -7.98330545425415,
                    "y": 0.04630531370639801,
                    "z": 0.032951030880212784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012699127197266,
                "transform": {
                    "location": {
                        "x": -55.09304428100586,
                        "y": 4294.59326171875,
                        "z": 372.6184387207031
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.23915906250476837,
                        "yaw": 179.6608428955078
                    }
                },
                "velocity": {
                    "x": -8.012500762939453,
                    "y": 0.0455978661775589,
                    "z": 0.03310072794556618
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056611061096191,
                "transform": {
                    "location": {
                        "x": -75.91343688964844,
                        "y": 4294.71630859375,
                        "z": 372.7123718261719
                    },
                    "rotation": {
                        "roll": 0.00026917518698610365,
                        "pitch": 0.23458966612815857,
                        "yaw": 179.68324279785156
                    }
                },
                "velocity": {
                    "x": -8.056422233581543,
                    "y": 0.04454392194747925,
                    "z": 0.032640933990478516
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09652441740036011,
        "expert_target_speed": 10.0,
        "target_point": [
            11.701151654334659,
            0.15863485495737256
        ],
        "target_point_next": [
            62.70081111658162,
            -0.030089666065515663
        ]
    },
    "135": {
        "acceleration": [
            -0.15180587768554688,
            -0.10349525511264801,
            0.004389956593513489
        ],
        "angular_velocity": [
            0.057555560022592545,
            -0.04290573298931122,
            1.531461477279663
        ],
        "forward_vector": [
            -0.9999880194664001,
            -0.0005058308015577495,
            0.004875759594142437
        ],
        "right_vector": [
            0.0005096749518997967,
            -0.9999995827674866,
            0.0007872209534980357
        ],
        "location": [
            -50.86539077758789,
            4291.60302734375,
            372.6007080078125
        ],
        "rotation": [
            -0.0451049767434597,
            0.2793615460395813,
            -179.9710235595703
        ],
        "velocity": [
            -12.38240909576416,
            -0.007648593746125698,
            0.05246539041399956
        ],
        "speed": 12.382411458025826,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -123.19976043701172,
                        "y": 4301.5947265625,
                        "z": 372.9371643066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22500690817832947,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.077862739562988,
                "transform": {
                    "location": {
                        "x": -81.10694885253906,
                        "y": 4301.43408203125,
                        "z": 372.73370361328125
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": -0.21166755259037018,
                        "yaw": -0.18463134765625
                    }
                },
                "velocity": {
                    "x": 8.077744483947754,
                    "y": -0.02864040806889534,
                    "z": -0.03301886469125748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.916533470153809,
                "transform": {
                    "location": {
                        "x": -81.88421630859375,
                        "y": 4298.18798828125,
                        "z": 372.7225036621094
                    },
                    "rotation": {
                        "roll": 0.0008595347171649337,
                        "pitch": -0.24035434424877167,
                        "yaw": -0.1935424506664276
                    }
                },
                "velocity": {
                    "x": 7.91641902923584,
                    "y": -0.026790287345647812,
                    "z": -0.033088501542806625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058664321899414,
                "transform": {
                    "location": {
                        "x": -36.94148254394531,
                        "y": 4301.185546875,
                        "z": 372.54644775390625
                    },
                    "rotation": {
                        "roll": 0.0005724490620195866,
                        "pitch": -0.24004697799682617,
                        "yaw": -0.3315734565258026
                    }
                },
                "velocity": {
                    "x": 8.058463096618652,
                    "y": -0.04662681370973587,
                    "z": -0.03274248167872429
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053094863891602,
                "transform": {
                    "location": {
                        "x": -36.98195266723633,
                        "y": 4297.93603515625,
                        "z": 372.5465393066406
                    },
                    "rotation": {
                        "roll": 0.0011671684915199876,
                        "pitch": -0.23998551070690155,
                        "yaw": -0.3524169921875
                    }
                },
                "velocity": {
                    "x": 8.052884101867676,
                    "y": -0.047835223376750946,
                    "z": -0.033099353313446045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -123.21897888183594,
                        "y": 4298.3447265625,
                        "z": 372.9371643066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22500690817832947,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.634932041168213,
                "transform": {
                    "location": {
                        "x": -21.835546493530273,
                        "y": 4294.39501953125,
                        "z": 372.4734191894531
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.2105337381362915,
                        "yaw": 179.65353393554688
                    }
                },
                "velocity": {
                    "x": -7.6347246170043945,
                    "y": 0.04614192992448807,
                    "z": 0.0321989431977272
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.371545314788818,
                "transform": {
                    "location": {
                        "x": -39.2072639465332,
                        "y": 4294.49853515625,
                        "z": 372.5531311035156
                    },
                    "rotation": {
                        "roll": 0.0004177622904535383,
                        "pitch": 0.04391128197312355,
                        "yaw": 179.6665802001953
                    }
                },
                "velocity": {
                    "x": -7.3713531494140625,
                    "y": 0.042831916362047195,
                    "z": 0.03170059993863106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012076377868652,
                "transform": {
                    "location": {
                        "x": -57.092498779296875,
                        "y": 4294.60498046875,
                        "z": 372.6267395019531
                    },
                    "rotation": {
                        "roll": -6.103516352595761e-05,
                        "pitch": 0.23605816066265106,
                        "yaw": 179.6822052001953
                    }
                },
                "velocity": {
                    "x": -8.011873245239258,
                    "y": 0.04626733809709549,
                    "z": 0.0334339514374733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000059127807617,
                "transform": {
                    "location": {
                        "x": -77.92015075683594,
                        "y": 4294.72802734375,
                        "z": 372.7206115722656
                    },
                    "rotation": {
                        "roll": 0.0012024579336866736,
                        "pitch": 0.23432329297065735,
                        "yaw": 179.67518615722656
                    }
                },
                "velocity": {
                    "x": -7.999851703643799,
                    "y": 0.04712964966893196,
                    "z": 0.03314674273133278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08127425611019135,
        "expert_target_speed": 10.0,
        "target_point": [
            8.611852969285026,
            0.13040859414295622
        ],
        "target_point_next": [
            59.610812823919034,
            -0.19666319525608772
        ]
    },
    "140": {
        "acceleration": [
            0.5697059631347656,
            -0.06988689303398132,
            0.0028736144304275513
        ],
        "angular_velocity": [
            0.06359658390283585,
            -0.21191062033176422,
            -0.7709236145019531
        ],
        "forward_vector": [
            -0.9999885559082031,
            -0.00224102521315217,
            0.004230247810482979
        ],
        "right_vector": [
            0.0022438475862145424,
            -0.9999972581863403,
            0.0006625883979722857
        ],
        "location": [
            -53.95492172241211,
            4291.59814453125,
            372.6136779785156
        ],
        "rotation": [
            -0.0379638634622097,
            0.24237607419490814,
            -179.87159729003906
        ],
        "velocity": [
            -12.30708122253418,
            -0.031059684231877327,
            0.0523313507437706
        ],
        "speed": 12.307120415517108,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081966400146484,
                "transform": {
                    "location": {
                        "x": -121.14398193359375,
                        "y": 4301.587890625,
                        "z": 372.89678955078125
                    },
                    "rotation": {
                        "roll": -0.01785278134047985,
                        "pitch": -0.24261513352394104,
                        "yaw": -0.1198730394244194
                    }
                },
                "velocity": {
                    "x": 8.080577850341797,
                    "y": 0.058150842785835266,
                    "z": -0.13806332647800446
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.889334201812744,
                "transform": {
                    "location": {
                        "x": -79.13054656982422,
                        "y": 4301.42578125,
                        "z": 372.72552490234375
                    },
                    "rotation": {
                        "roll": -0.0020751948468387127,
                        "pitch": -0.20769920945167542,
                        "yaw": -0.2315368950366974
                    }
                },
                "velocity": {
                    "x": 7.8891801834106445,
                    "y": -0.036598704755306244,
                    "z": -0.033102720975875854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.180727005004883,
                "transform": {
                    "location": {
                        "x": -79.85851287841797,
                        "y": 4298.1806640625,
                        "z": 372.7139892578125
                    },
                    "rotation": {
                        "roll": 0.0011696666479110718,
                        "pitch": -0.22631829977035522,
                        "yaw": -0.22277827560901642
                    }
                },
                "velocity": {
                    "x": 8.180570602416992,
                    "y": -0.0381610244512558,
                    "z": -0.033265575766563416
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046639442443848,
                "transform": {
                    "location": {
                        "x": -34.928592681884766,
                        "y": 4301.173828125,
                        "z": 372.53802490234375
                    },
                    "rotation": {
                        "roll": 0.0010049354750663042,
                        "pitch": -0.2398352473974228,
                        "yaw": -0.3348693549633026
                    }
                },
                "velocity": {
                    "x": 8.046431541442871,
                    "y": -0.04706880450248718,
                    "z": -0.033745404332876205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051220893859863,
                "transform": {
                    "location": {
                        "x": -34.96828079223633,
                        "y": 4297.92431640625,
                        "z": 372.53814697265625
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.24004697799682617,
                        "yaw": -0.3231200873851776
                    }
                },
                "velocity": {
                    "x": 8.051005363464355,
                    "y": -0.0480576753616333,
                    "z": -0.03402731940150261
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.122332572937012,
                "transform": {
                    "location": {
                        "x": -121.15843200683594,
                        "y": 4298.3349609375,
                        "z": 372.89666748046875
                    },
                    "rotation": {
                        "roll": -0.006683348678052425,
                        "pitch": -0.23247914016246796,
                        "yaw": -0.24334709346294403
                    }
                },
                "velocity": {
                    "x": 8.121082305908203,
                    "y": 0.007913561537861824,
                    "z": -0.1422983855009079
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.722837924957275,
                "transform": {
                    "location": {
                        "x": -23.60609245300293,
                        "y": 4294.40576171875,
                        "z": 372.48101806640625
                    },
                    "rotation": {
                        "roll": 0.001041957177221775,
                        "pitch": 0.18936015665531158,
                        "yaw": 179.65399169921875
                    }
                },
                "velocity": {
                    "x": -6.722654342651367,
                    "y": 0.040593650192022324,
                    "z": 0.028689946979284286
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.6279120445251465,
                "transform": {
                    "location": {
                        "x": -41.05593490600586,
                        "y": 4294.5087890625,
                        "z": 372.5603942871094
                    },
                    "rotation": {
                        "roll": 0.001673649880103767,
                        "pitch": 0.1882331669330597,
                        "yaw": 179.6645965576172
                    }
                },
                "velocity": {
                    "x": -7.627712726593018,
                    "y": 0.04576754570007324,
                    "z": 0.030765732750296593
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046937942504883,
                "transform": {
                    "location": {
                        "x": -59.102264404296875,
                        "y": 4294.61669921875,
                        "z": 372.6349792480469
                    },
                    "rotation": {
                        "roll": 0.0007182184490375221,
                        "pitch": 0.25273746252059937,
                        "yaw": 179.65328979492188
                    }
                },
                "velocity": {
                    "x": -8.046722412109375,
                    "y": 0.048457711935043335,
                    "z": 0.03344230726361275
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058611869812012,
                "transform": {
                    "location": {
                        "x": -79.927734375,
                        "y": 4294.73974609375,
                        "z": 372.7289733886719
                    },
                    "rotation": {
                        "roll": 0.0002048822643700987,
                        "pitch": 0.2349926382303238,
                        "yaw": 179.67283630371094
                    }
                },
                "velocity": {
                    "x": -8.0584135055542,
                    "y": 0.04602449759840965,
                    "z": 0.03289216011762619
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06605701893568039,
        "expert_target_speed": 10.0,
        "target_point": [
            56.52084770037944,
            -0.2980588651146385
        ],
        "target_point_next": [
            107.51913653633548,
            -0.7136239843436833
        ]
    },
    "145": {
        "acceleration": [
            0.6955146789550781,
            0.02688199281692505,
            0.0004100799560546875
        ],
        "angular_velocity": [
            0.08592773228883743,
            -0.115431047976017,
            1.1563234329223633
        ],
        "forward_vector": [
            -0.9999892115592957,
            -0.003126748837530613,
            0.00343012111261487
        ],
        "right_vector": [
            0.0031278340611606836,
            -0.9999950528144836,
            0.0003110553079750389
        ],
        "location": [
            -57.010154724121094,
            4291.58935546875,
            372.62652587890625
        ],
        "rotation": [
            -0.0178222618997097,
            0.19653184711933136,
            -179.8208465576172
        ],
        "velocity": [
            -12.140151977539062,
            -0.03438214212656021,
            0.0513056255877018
        ],
        "speed": 12.140200664298874,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.011675834655762,
                "transform": {
                    "location": {
                        "x": -119.13288879394531,
                        "y": 4301.595703125,
                        "z": 372.87554931640625
                    },
                    "rotation": {
                        "roll": -0.003997801803052425,
                        "pitch": -0.2334558516740799,
                        "yaw": 0.20868997275829315
                    }
                },
                "velocity": {
                    "x": 8.011445999145508,
                    "y": 0.02760883793234825,
                    "z": -0.05400790274143219
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.090876579284668,
                "transform": {
                    "location": {
                        "x": -77.12843322753906,
                        "y": 4301.416015625,
                        "z": 372.7176513671875
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": -0.2534478008747101,
                        "yaw": -0.2609252631664276
                    }
                },
                "velocity": {
                    "x": 8.090715408325195,
                    "y": -0.0387842133641243,
                    "z": -0.03312463313341141
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9620890617370605,
                "transform": {
                    "location": {
                        "x": -77.84312438964844,
                        "y": 4298.17138671875,
                        "z": 372.7058410644531
                    },
                    "rotation": {
                        "roll": 0.0003611759457271546,
                        "pitch": -0.24261513352394104,
                        "yaw": -0.2718200087547302
                    }
                },
                "velocity": {
                    "x": 7.961921691894531,
                    "y": -0.039883822202682495,
                    "z": -0.03281987085938454
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06065845489502,
                "transform": {
                    "location": {
                        "x": -32.91484451293945,
                        "y": 4301.162109375,
                        "z": 372.5296936035156
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.2393161505460739,
                        "yaw": -0.3390808403491974
                    }
                },
                "velocity": {
                    "x": 8.060443878173828,
                    "y": -0.04777374491095543,
                    "z": -0.03435203805565834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05332088470459,
                "transform": {
                    "location": {
                        "x": -32.95523452758789,
                        "y": 4297.91259765625,
                        "z": 372.52972412109375
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": -0.23995819687843323,
                        "yaw": -0.3550109267234802
                    }
                },
                "velocity": {
                    "x": 8.053106307983398,
                    "y": -0.0483412891626358,
                    "z": -0.033426813781261444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.081450462341309,
                "transform": {
                    "location": {
                        "x": -119.13335418701172,
                        "y": 4298.33642578125,
                        "z": 372.87646484375
                    },
                    "rotation": {
                        "roll": -0.004608153365552425,
                        "pitch": -0.22906404733657837,
                        "yaw": 0.14643289148807526
                    }
                },
                "velocity": {
                    "x": 8.081298828125,
                    "y": 0.0237834844738245,
                    "z": -0.04340766370296478
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.207082271575928,
                "transform": {
                    "location": {
                        "x": -25.321483612060547,
                        "y": 4294.41552734375,
                        "z": 372.48779296875
                    },
                    "rotation": {
                        "roll": 0.000749056925997138,
                        "pitch": 0.2494111806154251,
                        "yaw": 179.65692138671875
                    }
                },
                "velocity": {
                    "x": -7.206892967224121,
                    "y": 0.0429181233048439,
                    "z": 0.029815491288900375
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.156872749328613,
                "transform": {
                    "location": {
                        "x": -43.07538986206055,
                        "y": 4294.52099609375,
                        "z": 372.56787109375
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.4151730239391327,
                        "yaw": 179.66319274902344
                    }
                },
                "velocity": {
                    "x": -8.156665802001953,
                    "y": 0.048038214445114136,
                    "z": 0.032827988266944885
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01235580444336,
                "transform": {
                    "location": {
                        "x": -61.10882568359375,
                        "y": 4294.62841796875,
                        "z": 372.6433410644531
                    },
                    "rotation": {
                        "roll": 0.0003409547498449683,
                        "pitch": 0.2382574826478958,
                        "yaw": 179.67974853515625
                    }
                },
                "velocity": {
                    "x": -8.012149810791016,
                    "y": 0.046849559992551804,
                    "z": 0.033239830285310745
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9981842041015625,
                "transform": {
                    "location": {
                        "x": -81.93523406982422,
                        "y": 4294.751953125,
                        "z": 372.7371520996094
                    },
                    "rotation": {
                        "roll": 0.0005544612649828196,
                        "pitch": 0.2336197793483734,
                        "yaw": 179.67283630371094
                    }
                },
                "velocity": {
                    "x": -7.997984886169434,
                    "y": 0.04566924646496773,
                    "z": 0.03319672495126724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.053550105541944504,
        "expert_target_speed": 10.0,
        "target_point": [
            53.46531606654209,
            -0.3473436373938912
        ],
        "target_point_next": [
            104.46321693166635,
            -0.8080668893312133
        ]
    },
    "150": {
        "acceleration": [
            0.69427490234375,
            0.09374681860208511,
            0.0191536545753479
        ],
        "angular_velocity": [
            0.0644938200712204,
            -0.04090578854084015,
            -1.802293062210083
        ],
        "forward_vector": [
            -0.9999942183494568,
            -0.0014201648300513625,
            0.003094906685873866
        ],
        "right_vector": [
            0.0014195594703778625,
            -0.9999989867210388,
            -0.00019776720728259534
        ],
        "location": [
            -60.02226257324219,
            4291.58349609375,
            372.6390686035156
        ],
        "rotation": [
            0.011331280693411827,
            0.17732536792755127,
            -179.9186248779297
        ],
        "velocity": [
            -11.966175079345703,
            -0.014004888013005257,
            0.04963149130344391
        ],
        "speed": 11.96618327481417,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.063471794128418,
                "transform": {
                    "location": {
                        "x": -117.12327575683594,
                        "y": 4301.6015625,
                        "z": 372.8650817871094
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.22760237753391266,
                        "yaw": 0.20021647214889526
                    }
                },
                "velocity": {
                    "x": 8.063355445861816,
                    "y": 0.025483909994363785,
                    "z": -0.03515349328517914
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062395095825195,
                "transform": {
                    "location": {
                        "x": -75.10515594482422,
                        "y": 4301.40625,
                        "z": 372.7091369628906
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.2331826388835907,
                        "yaw": -0.2666930854320526
                    }
                },
                "velocity": {
                    "x": 8.062224388122559,
                    "y": -0.04057818651199341,
                    "z": -0.03327246755361557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.087688446044922,
                "transform": {
                    "location": {
                        "x": -75.83976745605469,
                        "y": 4298.1611328125,
                        "z": 372.6975402832031
                    },
                    "rotation": {
                        "roll": 0.0002267928357468918,
                        "pitch": -0.23456233739852905,
                        "yaw": -0.2866516411304474
                    }
                },
                "velocity": {
                    "x": 8.087514877319336,
                    "y": -0.04035473242402077,
                    "z": -0.03440658375620842
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046714782714844,
                "transform": {
                    "location": {
                        "x": -30.9014835357666,
                        "y": 4301.150390625,
                        "z": 372.5212707519531
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": -0.24023139476776123,
                        "yaw": -0.3478393256664276
                    }
                },
                "velocity": {
                    "x": 8.046499252319336,
                    "y": -0.04895126074552536,
                    "z": -0.032928161323070526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052188873291016,
                "transform": {
                    "location": {
                        "x": -30.94156265258789,
                        "y": 4297.90087890625,
                        "z": 372.5213317871094
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.2392546832561493,
                        "yaw": -0.329681396484375
                    }
                },
                "velocity": {
                    "x": 8.051971435546875,
                    "y": -0.04879741743206978,
                    "z": -0.033339787274599075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.108329772949219,
                "transform": {
                    "location": {
                        "x": -117.10952758789062,
                        "y": 4298.34228515625,
                        "z": 372.8680725097656
                    },
                    "rotation": {
                        "roll": -0.004058837424963713,
                        "pitch": -0.22689887881278992,
                        "yaw": 0.30576369166374207
                    }
                },
                "velocity": {
                    "x": 8.108198165893555,
                    "y": 0.03389419615268707,
                    "z": -0.03138774260878563
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.314648628234863,
                "transform": {
                    "location": {
                        "x": -27.263280868530273,
                        "y": 4294.42724609375,
                        "z": 372.49554443359375
                    },
                    "rotation": {
                        "roll": -0.0002136232506018132,
                        "pitch": 0.3024885654449463,
                        "yaw": 179.64927673339844
                    }
                },
                "velocity": {
                    "x": -8.31442642211914,
                    "y": 0.050120215862989426,
                    "z": 0.03441204875707626
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.291507720947266,
                "transform": {
                    "location": {
                        "x": -45.18320083618164,
                        "y": 4294.533203125,
                        "z": 372.576904296875
                    },
                    "rotation": {
                        "roll": 0.0014914299827069044,
                        "pitch": 0.33735668659210205,
                        "yaw": 179.65953063964844
                    }
                },
                "velocity": {
                    "x": -8.291289329528809,
                    "y": 0.04915233328938484,
                    "z": 0.03484471142292023
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028909683227539,
                "transform": {
                    "location": {
                        "x": -63.11335754394531,
                        "y": 4294.64013671875,
                        "z": 372.6515808105469
                    },
                    "rotation": {
                        "roll": 0.001342844101600349,
                        "pitch": 0.2438923865556717,
                        "yaw": 179.6507110595703
                    }
                },
                "velocity": {
                    "x": -8.028703689575195,
                    "y": 0.04719860479235649,
                    "z": 0.032834120094776154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058721542358398,
                "transform": {
                    "location": {
                        "x": -83.94249725341797,
                        "y": 4294.76318359375,
                        "z": 372.74542236328125
                    },
                    "rotation": {
                        "roll": 1.494256684964057e-05,
                        "pitch": 0.2317141592502594,
                        "yaw": 179.667724609375
                    }
                },
                "velocity": {
                    "x": -8.05850601196289,
                    "y": 0.04846159368753433,
                    "z": 0.033535707741975784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04674395173788071,
        "expert_target_speed": 10.0,
        "target_point": [
            50.45371785186988,
            -0.2576813353920829
        ],
        "target_point_next": [
            101.45233072172903,
            -0.6313709313863352
        ]
    },
    "155": {
        "acceleration": [
            0.6751251220703125,
            0.11239805817604065,
            0.012343451380729675
        ],
        "angular_velocity": [
            0.053895819932222366,
            0.007670413702726364,
            0.8327925205230713
        ],
        "forward_vector": [
            -0.9999952912330627,
            0.0006481697200797498,
            0.002988929860293865
        ],
        "right_vector": [
            -0.0006496667047031224,
            -0.9999996423721313,
            -0.0004998883232474327
        ],
        "location": [
            -62.99148178100586,
            4291.5830078125,
            372.65130615234375
        ],
        "rotation": [
            0.02864161692559719,
            0.17125332355499268,
            179.96286010742188
        ],
        "velocity": [
            -11.795247077941895,
            0.012759475037455559,
            0.0489027313888073
        ],
        "speed": 11.795253979202823,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.098141193389893,
                "transform": {
                    "location": {
                        "x": -115.28335571289062,
                        "y": 4301.60693359375,
                        "z": 372.8581848144531
                    },
                    "rotation": {
                        "roll": 0.0013558901846408844,
                        "pitch": -0.3300757110118866,
                        "yaw": 0.15244346857070923
                    }
                },
                "velocity": {
                    "x": 6.098087787628174,
                    "y": -0.002787318779155612,
                    "z": -0.025323012843728065
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9788689613342285,
                "transform": {
                    "location": {
                        "x": -73.1043701171875,
                        "y": 4301.396484375,
                        "z": 372.7008972167969
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.23077158629894257,
                        "yaw": -0.293853759765625
                    }
                },
                "velocity": {
                    "x": 7.97869348526001,
                    "y": -0.04118820279836655,
                    "z": -0.03324350342154503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.036684036254883,
                "transform": {
                    "location": {
                        "x": -73.8207778930664,
                        "y": 4298.15087890625,
                        "z": 372.689208984375
                    },
                    "rotation": {
                        "roll": 0.0005522000137716532,
                        "pitch": -0.2349243462085724,
                        "yaw": -0.30023193359375
                    }
                },
                "velocity": {
                    "x": 8.036507606506348,
                    "y": -0.042264584451913834,
                    "z": -0.03230391442775726
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058377265930176,
                "transform": {
                    "location": {
                        "x": -28.88851547241211,
                        "y": 4301.138671875,
                        "z": 372.51287841796875
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.23916588723659515,
                        "yaw": -0.34838858246803284
                    }
                },
                "velocity": {
                    "x": 8.058160781860352,
                    "y": -0.04899025335907936,
                    "z": -0.032990097999572754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051543235778809,
                "transform": {
                    "location": {
                        "x": -28.928592681884766,
                        "y": 4297.88916015625,
                        "z": 372.5129699707031
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.2396576702594757,
                        "yaw": -0.3582763373851776
                    }
                },
                "velocity": {
                    "x": 8.0513277053833,
                    "y": -0.04882834479212761,
                    "z": -0.03295527398586273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.06816577911377,
                "transform": {
                    "location": {
                        "x": -115.08780670166016,
                        "y": 4298.35107421875,
                        "z": 372.8602600097656
                    },
                    "rotation": {
                        "roll": -0.0025939939077943563,
                        "pitch": -0.22686472535133362,
                        "yaw": 0.3168832063674927
                    }
                },
                "velocity": {
                    "x": 8.068060874938965,
                    "y": 0.02651633508503437,
                    "z": -0.03167178854346275
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.515734672546387,
                "transform": {
                    "location": {
                        "x": -29.42757797241211,
                        "y": 4294.4404296875,
                        "z": 372.5047912597656
                    },
                    "rotation": {
                        "roll": 0.0004726966144517064,
                        "pitch": 0.26409608125686646,
                        "yaw": 179.65536499023438
                    }
                },
                "velocity": {
                    "x": -8.51551342010498,
                    "y": 0.049643728882074356,
                    "z": 0.036124344915151596
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8943281173706055,
                "transform": {
                    "location": {
                        "x": -47.182342529296875,
                        "y": 4294.544921875,
                        "z": 372.5859680175781
                    },
                    "rotation": {
                        "roll": 0.000613296520896256,
                        "pitch": 0.15118622779846191,
                        "yaw": 179.65895080566406
                    }
                },
                "velocity": {
                    "x": -7.89411735534668,
                    "y": 0.04694908484816551,
                    "z": 0.03348160535097122
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028589248657227,
                "transform": {
                    "location": {
                        "x": -65.12117004394531,
                        "y": 4294.65185546875,
                        "z": 372.659912109375
                    },
                    "rotation": {
                        "roll": 0.0009188019321300089,
                        "pitch": 0.244199737906456,
                        "yaw": 179.67550659179688
                    }
                },
                "velocity": {
                    "x": -8.0283784866333,
                    "y": 0.047623343765735626,
                    "z": 0.03339320048689842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9983720779418945,
                "transform": {
                    "location": {
                        "x": -85.94984436035156,
                        "y": 4294.77490234375,
                        "z": 372.7535705566406
                    },
                    "rotation": {
                        "roll": 0.00027555704582482576,
                        "pitch": 0.23350366950035095,
                        "yaw": 179.66567993164062
                    }
                },
                "velocity": {
                    "x": -7.9981689453125,
                    "y": 0.04662522301077843,
                    "z": 0.032732751220464706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04139576107263565,
        "expert_target_speed": 10.0,
        "target_point": [
            47.48492458935552,
            -0.15575277714546223
        ],
        "target_point_next": [
            98.48420120930923,
            -0.42397433735206047
        ]
    },
    "160": {
        "acceleration": [
            0.5995941162109375,
            0.10601028800010681,
            0.014929622411727905
        ],
        "angular_velocity": [
            -0.00460537476465106,
            0.013923637568950653,
            -1.9548598527908325
        ],
        "forward_vector": [
            -0.9999904036521912,
            0.0032087683212012053,
            0.002996082417666912
        ],
        "right_vector": [
            -0.003210684983059764,
            -0.999994695186615,
            -0.0006350810872390866
        ],
        "location": [
            -65.91937255859375,
            4291.58935546875,
            372.6633605957031
        ],
        "rotation": [
            0.03638763353228569,
            0.17166313529014587,
            179.81614685058594
        ],
        "velocity": [
            -11.637561798095703,
            0.039806511253118515,
            0.04915293678641319
        ],
        "speed": 11.637629877377723,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.504537105560303,
                "transform": {
                    "location": {
                        "x": -113.86640167236328,
                        "y": 4301.60595703125,
                        "z": 372.8521423339844
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.2883022725582123,
                        "yaw": 0.05494273081421852
                    }
                },
                "velocity": {
                    "x": 5.504488945007324,
                    "y": -0.007891391403973103,
                    "z": -0.021674657240509987
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.082499504089355,
                "transform": {
                    "location": {
                        "x": -71.09445190429688,
                        "y": 4301.38525390625,
                        "z": 372.6927185058594
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.23851701617240906,
                        "yaw": -0.3069762885570526
                    }
                },
                "velocity": {
                    "x": 8.082310676574707,
                    "y": -0.04336299002170563,
                    "z": -0.03441285714507103
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.058635711669922,
                "transform": {
                    "location": {
                        "x": -71.81108856201172,
                        "y": 4298.140625,
                        "z": 372.6809387207031
                    },
                    "rotation": {
                        "roll": 2.2852240363135934e-05,
                        "pitch": -0.23705536127090454,
                        "yaw": -0.3053893744945526
                    }
                },
                "velocity": {
                    "x": 8.058451652526855,
                    "y": -0.0429704412817955,
                    "z": -0.033351730555295944
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047873497009277,
                "transform": {
                    "location": {
                        "x": -26.875078201293945,
                        "y": 4301.126953125,
                        "z": 372.50445556640625
                    },
                    "rotation": {
                        "roll": 9.859885176410899e-05,
                        "pitch": -0.24135838449001312,
                        "yaw": -0.3486022353172302
                    }
                },
                "velocity": {
                    "x": 8.04765510559082,
                    "y": -0.04886442422866821,
                    "z": -0.03349408134818077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052250862121582,
                "transform": {
                    "location": {
                        "x": -26.914920806884766,
                        "y": 4297.87744140625,
                        "z": 372.5045471191406
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.24060022830963135,
                        "yaw": -0.32904052734375
                    }
                },
                "velocity": {
                    "x": 8.05203628540039,
                    "y": -0.04850509390234947,
                    "z": -0.03316514566540718
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.094277381896973,
                "transform": {
                    "location": {
                        "x": -113.06749725341797,
                        "y": 4298.35546875,
                        "z": 372.8523254394531
                    },
                    "rotation": {
                        "roll": 0.0004392112896312028,
                        "pitch": -0.22689887881278992,
                        "yaw": 0.11634799838066101
                    }
                },
                "velocity": {
                    "x": 8.094212532043457,
                    "y": 0.0020021176896989346,
                    "z": -0.032189253717660904
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.23538064956665,
                "transform": {
                    "location": {
                        "x": -31.383358001708984,
                        "y": 4294.45263671875,
                        "z": 372.51361083984375
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": 0.18169668316841125,
                        "yaw": 179.65863037109375
                    }
                },
                "velocity": {
                    "x": -7.235188007354736,
                    "y": 0.043312862515449524,
                    "z": 0.030134504660964012
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.507598876953125,
                "transform": {
                    "location": {
                        "x": -49.08687210083008,
                        "y": 4294.556640625,
                        "z": 372.59405517578125
                    },
                    "rotation": {
                        "roll": 0.0002260892215417698,
                        "pitch": 0.09110789000988007,
                        "yaw": 179.6567840576172
                    }
                },
                "velocity": {
                    "x": -7.507399082183838,
                    "y": 0.04383659362792969,
                    "z": 0.032878149300813675
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021198272705078,
                "transform": {
                    "location": {
                        "x": -67.12710571289062,
                        "y": 4294.66357421875,
                        "z": 372.66815185546875
                    },
                    "rotation": {
                        "roll": 0.0014841948868706822,
                        "pitch": 0.2408187985420227,
                        "yaw": 179.64599609375
                    }
                },
                "velocity": {
                    "x": -8.020979881286621,
                    "y": 0.04878337308764458,
                    "z": 0.03353188559412956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058603286743164,
                "transform": {
                    "location": {
                        "x": -87.95710754394531,
                        "y": 4294.78662109375,
                        "z": 372.7618408203125
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": 0.23285479843616486,
                        "yaw": 179.6658172607422
                    }
                },
                "velocity": {
                    "x": -8.05840015411377,
                    "y": 0.04702883958816528,
                    "z": 0.03272217512130737
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04157428443431854,
        "expert_target_speed": 10.0,
        "target_point": [
            44.557271647708994,
            -0.03722987493497981
        ],
        "target_point_next": [
            95.55706781886214,
            -0.17488547689708606
        ]
    },
    "165": {
        "acceleration": [
            0.5730819702148438,
            0.12623384594917297,
            0.007212311029434204
        ],
        "angular_velocity": [
            0.09805142134428024,
            0.020752469077706337,
            0.847335934638977
        ],
        "forward_vector": [
            -0.9999794960021973,
            0.005610799416899681,
            0.0030845352448523045
        ],
        "right_vector": [
            -0.005613141227513552,
            -0.9999839663505554,
            -0.0007511727744713426
        ],
        "location": [
            -68.80976104736328,
            4291.60302734375,
            372.6752014160156
        ],
        "rotation": [
            0.043039239943027496,
            0.176731139421463,
            179.67852783203125
        ],
        "velocity": [
            -11.491949081420898,
            0.07148328423500061,
            0.04847865179181099
        ],
        "speed": 11.492171402737416,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.106273651123047,
                "transform": {
                    "location": {
                        "x": -112.40382385253906,
                        "y": 4301.60498046875,
                        "z": 372.8458557128906
                    },
                    "rotation": {
                        "roll": 0.0008410572772845626,
                        "pitch": -0.21631208062171936,
                        "yaw": -0.08541867882013321
                    }
                },
                "velocity": {
                    "x": 6.106217384338379,
                    "y": -0.010791716165840626,
                    "z": -0.023862667381763458
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000236511230469,
                "transform": {
                    "location": {
                        "x": -69.08429718017578,
                        "y": 4301.37353515625,
                        "z": 372.6844177246094
                    },
                    "rotation": {
                        "roll": 0.0006482623866759241,
                        "pitch": -0.2347126007080078,
                        "yaw": -0.3113097846508026
                    }
                },
                "velocity": {
                    "x": 8.00004768371582,
                    "y": -0.04340606555342674,
                    "z": -0.03378214314579964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.033533096313477,
                "transform": {
                    "location": {
                        "x": -69.79914093017578,
                        "y": 4298.12890625,
                        "z": 372.6726379394531
                    },
                    "rotation": {
                        "roll": 0.0010997563367709517,
                        "pitch": -0.2356005311012268,
                        "yaw": -0.3103637397289276
                    }
                },
                "velocity": {
                    "x": 8.033346176147461,
                    "y": -0.04344429075717926,
                    "z": -0.03341199457645416
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057991027832031,
                "transform": {
                    "location": {
                        "x": -24.86148452758789,
                        "y": 4301.115234375,
                        "z": 372.49603271484375
                    },
                    "rotation": {
                        "roll": -0.00015258791972883046,
                        "pitch": -0.2421848326921463,
                        "yaw": -0.3484191596508026
                    }
                },
                "velocity": {
                    "x": 8.057768821716309,
                    "y": -0.04902024567127228,
                    "z": -0.03432276472449303
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052119255065918,
                "transform": {
                    "location": {
                        "x": -24.901248931884766,
                        "y": 4297.86572265625,
                        "z": 372.49609375
                    },
                    "rotation": {
                        "roll": 5.102661089040339e-05,
                        "pitch": -0.24224629998207092,
                        "yaw": -0.35833740234375
                    }
                },
                "velocity": {
                    "x": 8.051899909973145,
                    "y": -0.04891515523195267,
                    "z": -0.03379549831151962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0537748336792,
                "transform": {
                    "location": {
                        "x": -111.0492172241211,
                        "y": 4298.35595703125,
                        "z": 372.8443298339844
                    },
                    "rotation": {
                        "roll": 0.000814358179923147,
                        "pitch": -0.2277253270149231,
                        "yaw": -0.0768127366900444
                    }
                },
                "velocity": {
                    "x": 8.053701400756836,
                    "y": -0.01101105660200119,
                    "z": -0.03255815804004669
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.24131965637207,
                "transform": {
                    "location": {
                        "x": -33.1603889465332,
                        "y": 4294.46240234375,
                        "z": 372.5207214355469
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": 0.22146204113960266,
                        "yaw": 179.65939331054688
                    }
                },
                "velocity": {
                    "x": -7.241137504577637,
                    "y": 0.04152596369385719,
                    "z": 0.030257491394877434
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.325336456298828,
                "transform": {
                    "location": {
                        "x": -51.053279876708984,
                        "y": 4294.56884765625,
                        "z": 372.6012878417969
                    },
                    "rotation": {
                        "roll": 0.0003188657574355602,
                        "pitch": 0.3927221894264221,
                        "yaw": 179.6641082763672
                    }
                },
                "velocity": {
                    "x": -8.325126647949219,
                    "y": 0.0487736351788044,
                    "z": 0.03349647298455238
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028454780578613,
                "transform": {
                    "location": {
                        "x": -69.13359069824219,
                        "y": 4294.67529296875,
                        "z": 372.6763916015625
                    },
                    "rotation": {
                        "roll": 0.0008306410163640976,
                        "pitch": 0.24362599849700928,
                        "yaw": 179.6722412109375
                    }
                },
                "velocity": {
                    "x": -8.02824592590332,
                    "y": 0.04778746888041496,
                    "z": 0.03265119343996048
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999037742614746,
                "transform": {
                    "location": {
                        "x": -89.96421813964844,
                        "y": 4294.79833984375,
                        "z": 372.77008056640625
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": 0.23338072001934052,
                        "yaw": 179.66265869140625
                    }
                },
                "velocity": {
                    "x": -7.9988298416137695,
                    "y": 0.047110266983509064,
                    "z": 0.03330053389072418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0488167405128479,
        "expert_target_speed": 10.0,
        "target_point": [
            41.66681281035356,
            0.06726566588528454
        ],
        "target_point_next": [
            92.66679251033007,
            0.05212743938594311
        ]
    },
    "170": {
        "acceleration": [
            0.5748939514160156,
            0.11839136481285095,
            -0.001345798373222351
        ],
        "angular_velocity": [
            0.01743735931813717,
            0.023616129532456398,
            -2.1703057289123535
        ],
        "forward_vector": [
            -0.9999577403068542,
            0.008638144470751286,
            0.0031411596573889256
        ],
        "right_vector": [
            -0.008640647865831852,
            -0.9999623894691467,
            -0.0007843294297344983
        ],
        "location": [
            -71.66437530517578,
            4291.6240234375,
            372.6869812011719
        ],
        "rotation": [
            0.04493899270892143,
            0.1799754798412323,
            179.50506591796875
        ],
        "velocity": [
            -11.349652290344238,
            0.10196259617805481,
            0.048144616186618805
        ],
        "speed": 11.35011028504726,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -150.71804809570312,
                        "y": 4298.50732421875,
                        "z": 373.0812072753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.20819097757339478,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.280552864074707,
                "transform": {
                    "location": {
                        "x": -110.56812286376953,
                        "y": 4301.6015625,
                        "z": 372.83782958984375
                    },
                    "rotation": {
                        "roll": 0.00014429999282583594,
                        "pitch": -0.1142895519733429,
                        "yaw": -0.1063232421875
                    }
                },
                "velocity": {
                    "x": 8.280468940734863,
                    "y": -0.017079250887036324,
                    "z": -0.03316877782344818
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061957359313965,
                "transform": {
                    "location": {
                        "x": -67.07671356201172,
                        "y": 4301.36181640625,
                        "z": 372.6761169433594
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": -0.2360171675682068,
                        "yaw": -0.3168334662914276
                    }
                },
                "velocity": {
                    "x": 8.061765670776367,
                    "y": -0.04459064453840256,
                    "z": -0.033147700130939484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07160758972168,
                "transform": {
                    "location": {
                        "x": -67.78569793701172,
                        "y": 4298.1171875,
                        "z": 372.66436767578125
                    },
                    "rotation": {
                        "roll": 3.369271144038066e-05,
                        "pitch": -0.23605132102966309,
                        "yaw": -0.31927481293678284
                    }
                },
                "velocity": {
                    "x": 8.071413040161133,
                    "y": -0.04490289092063904,
                    "z": -0.033654749393463135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04836654663086,
                "transform": {
                    "location": {
                        "x": -22.848201751708984,
                        "y": 4301.103515625,
                        "z": 372.4875183105469
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": -0.24196626245975494,
                        "yaw": -0.3480224907398224
                    }
                },
                "velocity": {
                    "x": 8.048148155212402,
                    "y": -0.04884381964802742,
                    "z": -0.033445242792367935
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05301284790039,
                "transform": {
                    "location": {
                        "x": -22.887577056884766,
                        "y": 4297.85400390625,
                        "z": 372.48760986328125
                    },
                    "rotation": {
                        "roll": 0.0005395545740611851,
                        "pitch": -0.24182283878326416,
                        "yaw": -0.32489013671875
                    }
                },
                "velocity": {
                    "x": 8.0527982711792,
                    "y": -0.04838581383228302,
                    "z": -0.033404409885406494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9453444480896,
                "transform": {
                    "location": {
                        "x": -109.0335922241211,
                        "y": 4298.3525390625,
                        "z": 372.8363342285156
                    },
                    "rotation": {
                        "roll": 0.0007663240539841354,
                        "pitch": -0.23047105967998505,
                        "yaw": -0.2039184272289276
                    }
                },
                "velocity": {
                    "x": 7.945230007171631,
                    "y": -0.027583271265029907,
                    "z": -0.03255442902445793
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.204391479492188,
                "transform": {
                    "location": {
                        "x": -35.08609390258789,
                        "y": 4294.4736328125,
                        "z": 372.52825927734375
                    },
                    "rotation": {
                        "roll": 0.0003594327426981181,
                        "pitch": 0.28820663690567017,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": -8.204176902770996,
                    "y": 0.048530738800764084,
                    "z": 0.034014251083135605
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.207613945007324,
                "transform": {
                    "location": {
                        "x": -53.16812515258789,
                        "y": 4294.580078125,
                        "z": 372.6102294921875
                    },
                    "rotation": {
                        "roll": -0.0006713864859193563,
                        "pitch": 0.3183072805404663,
                        "yaw": 179.6659698486328
                    }
                },
                "velocity": {
                    "x": -8.207406044006348,
                    "y": 0.04786767065525055,
                    "z": 0.033504847437143326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025408744812012,
                "transform": {
                    "location": {
                        "x": -71.14070129394531,
                        "y": 4294.68701171875,
                        "z": 372.6846923828125
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": 0.24282687902450562,
                        "yaw": 179.64804077148438
                    }
                },
                "velocity": {
                    "x": -8.025202751159668,
                    "y": 0.04729776829481125,
                    "z": 0.03279547765851021
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058774948120117,
                "transform": {
                    "location": {
                        "x": -91.97171783447266,
                        "y": 4294.81005859375,
                        "z": 372.7781982421875
                    },
                    "rotation": {
                        "roll": 0.0004171380714979023,
                        "pitch": 0.23060765862464905,
                        "yaw": 179.66233825683594
                    }
                },
                "velocity": {
                    "x": -8.05856704711914,
                    "y": 0.047463107854127884,
                    "z": 0.033095281571149826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.057871222496032715,
        "expert_target_speed": 10.0,
        "target_point": [
            38.81172909957335,
            0.18974666795545508
        ],
        "target_point_next": [
            89.81152091242642,
            0.3290076085069976
        ]
    },
    "175": {
        "acceleration": [
            0.5776786804199219,
            0.10192438960075378,
            -0.021638870239257812
        ],
        "angular_velocity": [
            0.0017689322121441364,
            -0.00821000523865223,
            1.072060465812683
        ],
        "forward_vector": [
            -0.9999362826347351,
            0.010842446237802505,
            0.0031453317496925592
        ],
        "right_vector": [
            -0.010844825766980648,
            -0.9999409317970276,
            -0.0007403999334201217
        ],
        "location": [
            -74.48296356201172,
            4291.65234375,
            372.6986999511719
        ],
        "rotation": [
            0.04242200404405594,
            0.180214524269104,
            179.37875366210938
        ],
        "velocity": [
            -11.204668045043945,
            0.12762969732284546,
            0.04596814140677452
        ],
        "speed": 11.205394921164878,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -149.81124877929688,
                        "y": 4301.75244140625,
                        "z": 373.1455383300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21286283433437347,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -148.63523864746094,
                        "y": 4298.4951171875,
                        "z": 373.04132080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21286283433437347,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.202836990356445,
                "transform": {
                    "location": {
                        "x": -108.47374725341797,
                        "y": 4301.5947265625,
                        "z": 372.8301086425781
                    },
                    "rotation": {
                        "roll": 0.0014022965915501118,
                        "pitch": -0.20599167048931122,
                        "yaw": -0.1965942233800888
                    }
                },
                "velocity": {
                    "x": 8.202707290649414,
                    "y": -0.032395727932453156,
                    "z": -0.0327707938849926
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007761001586914,
                "transform": {
                    "location": {
                        "x": -65.06765747070312,
                        "y": 4301.35009765625,
                        "z": 372.6678466796875
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": -0.23598985373973846,
                        "yaw": -0.317138671875
                    }
                },
                "velocity": {
                    "x": 8.007570266723633,
                    "y": -0.04433947429060936,
                    "z": -0.032914720475673676
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024651527404785,
                "transform": {
                    "location": {
                        "x": -65.77476501464844,
                        "y": 4298.10546875,
                        "z": 372.6560363769531
                    },
                    "rotation": {
                        "roll": 0.000924589519854635,
                        "pitch": -0.2366592139005661,
                        "yaw": -0.3255309462547302
                    }
                },
                "velocity": {
                    "x": 8.024444580078125,
                    "y": -0.047077469527721405,
                    "z": -0.033342573791742325
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059261322021484,
                "transform": {
                    "location": {
                        "x": -20.834453582763672,
                        "y": 4301.091796875,
                        "z": 372.47906494140625
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.24325034022331238,
                        "yaw": -0.354766845703125
                    }
                },
                "velocity": {
                    "x": 8.059039115905762,
                    "y": -0.05005115270614624,
                    "z": -0.03288941830396652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051788330078125,
                "transform": {
                    "location": {
                        "x": -20.873905181884766,
                        "y": 4297.84228515625,
                        "z": 372.4790954589844
                    },
                    "rotation": {
                        "roll": 0.001400162698701024,
                        "pitch": -0.24374212324619293,
                        "yaw": -0.3605346083641052
                    }
                },
                "velocity": {
                    "x": 8.051565170288086,
                    "y": -0.04986681789159775,
                    "z": -0.033307380974292755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7857561111450195,
                "transform": {
                    "location": {
                        "x": -107.25945281982422,
                        "y": 4298.345703125,
                        "z": 372.82952880859375
                    },
                    "rotation": {
                        "roll": 0.00111293769441545,
                        "pitch": -0.25976574420928955,
                        "yaw": -0.342437744140625
                    }
                },
                "velocity": {
                    "x": 6.785623073577881,
                    "y": -0.031300779432058334,
                    "z": -0.028729677200317383
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.836153030395508,
                "transform": {
                    "location": {
                        "x": -37.26702880859375,
                        "y": 4294.48681640625,
                        "z": 372.5373840332031
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.2842997908592224,
                        "yaw": 179.66172790527344
                    }
                },
                "velocity": {
                    "x": -8.835919380187988,
                    "y": 0.05225679278373718,
                    "z": 0.03731480613350868
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.433000087738037,
                "transform": {
                    "location": {
                        "x": -55.10382843017578,
                        "y": 4294.591796875,
                        "z": 372.6191711425781
                    },
                    "rotation": {
                        "roll": -0.0007019041804596782,
                        "pitch": 0.039621926844120026,
                        "yaw": 179.66500854492188
                    }
                },
                "velocity": {
                    "x": -7.432803153991699,
                    "y": 0.043387092649936676,
                    "z": 0.03236377611756325
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.11650276184082,
                "transform": {
                    "location": {
                        "x": -73.15460968017578,
                        "y": 4294.69873046875,
                        "z": 372.69293212890625
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.2650454640388489,
                        "yaw": 179.67742919921875
                    }
                },
                "velocity": {
                    "x": -8.116296768188477,
                    "y": 0.047552578151226044,
                    "z": 0.03294136002659798
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999980449676514,
                "transform": {
                    "location": {
                        "x": -93.97882843017578,
                        "y": 4294.82177734375,
                        "z": 372.7863464355469
                    },
                    "rotation": {
                        "roll": -0.0016784663312137127,
                        "pitch": 0.23075109720230103,
                        "yaw": 179.66233825683594
                    }
                },
                "velocity": {
                    "x": -7.999776363372803,
                    "y": 0.047172363847494125,
                    "z": 0.03230227530002594
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07008305191993713,
        "expert_target_speed": 10.0,
        "target_point": [
            35.99248687742317,
            0.2730626540734777
        ],
        "target_point_next": [
            86.99184778551361,
            0.5247480335742046
        ]
    },
    "180": {
        "acceleration": [
            0.5645942687988281,
            0.089283287525177,
            -0.0007943809032440186
        ],
        "angular_velocity": [
            -0.08644969761371613,
            -0.025266049429774284,
            -2.1595566272735596
        ],
        "forward_vector": [
            -0.9999058246612549,
            0.013359948992729187,
            0.003140086540952325
        ],
        "right_vector": [
            -0.013362128287553787,
            -0.9999105334281921,
            -0.0006738530355505645
        ],
        "location": [
            -77.26554870605469,
            4291.68701171875,
            372.71014404296875
        ],
        "rotation": [
            0.03860912844538689,
            0.17991399765014648,
            179.23451232910156
        ],
        "velocity": [
            -11.061720848083496,
            0.15098896622657776,
            0.04497795179486275
        ],
        "speed": 11.062751275738202,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -147.72959899902344,
                        "y": 4301.740234375,
                        "z": 373.06390380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21286283433437347,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -146.5524139404297,
                        "y": 4298.48291015625,
                        "z": 373.0015563964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21286283433437347,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.831531524658203,
                "transform": {
                    "location": {
                        "x": -106.48859405517578,
                        "y": 4301.58740234375,
                        "z": 372.82244873046875
                    },
                    "rotation": {
                        "roll": 0.0018553092377260327,
                        "pitch": -0.24228045344352722,
                        "yaw": -0.23370361328125
                    }
                },
                "velocity": {
                    "x": 7.831398010253906,
                    "y": -0.031806472688913345,
                    "z": -0.032929714769124985
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063621520996094,
                "transform": {
                    "location": {
                        "x": -63.05906295776367,
                        "y": 4301.3388671875,
                        "z": 372.6595153808594
                    },
                    "rotation": {
                        "roll": -6.103517080191523e-05,
                        "pitch": -0.23644746840000153,
                        "yaw": -0.3172607421875
                    }
                },
                "velocity": {
                    "x": 8.063429832458496,
                    "y": -0.04461098089814186,
                    "z": -0.03323131427168846
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077520370483398,
                "transform": {
                    "location": {
                        "x": -63.76148223876953,
                        "y": 4298.09375,
                        "z": 372.6477966308594
                    },
                    "rotation": {
                        "roll": -6.1035112594254315e-05,
                        "pitch": -0.23598985373973846,
                        "yaw": -0.3362426459789276
                    }
                },
                "velocity": {
                    "x": 8.077313423156738,
                    "y": -0.04736289754509926,
                    "z": -0.03311515599489212
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047852516174316,
                "transform": {
                    "location": {
                        "x": -18.8214054107666,
                        "y": 4301.080078125,
                        "z": 372.4704895019531
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.24679520726203918,
                        "yaw": -0.3537597060203552
                    }
                },
                "velocity": {
                    "x": 8.047635078430176,
                    "y": -0.04881367087364197,
                    "z": -0.03358089551329613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051798820495605,
                "transform": {
                    "location": {
                        "x": -18.86031150817871,
                        "y": 4297.83056640625,
                        "z": 372.4705810546875
                    },
                    "rotation": {
                        "roll": 8.271528713521548e-06,
                        "pitch": -0.24582532048225403,
                        "yaw": -0.3360595703125
                    }
                },
                "velocity": {
                    "x": 8.051576614379883,
                    "y": -0.04964672401547432,
                    "z": -0.03330591693520546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.309743404388428,
                "transform": {
                    "location": {
                        "x": -105.51492309570312,
                        "y": 4298.33740234375,
                        "z": 372.8220520019531
                    },
                    "rotation": {
                        "roll": 0.0008816212066449225,
                        "pitch": -0.22189916670322418,
                        "yaw": -0.362945556640625
                    }
                },
                "velocity": {
                    "x": 7.309581756591797,
                    "y": -0.03846941515803337,
                    "z": -0.02967057190835476
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.485461711883545,
                "transform": {
                    "location": {
                        "x": -39.31132888793945,
                        "y": 4294.4990234375,
                        "z": 372.5466003417969
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": 0.18361596763134003,
                        "yaw": 179.6645050048828
                    }
                },
                "velocity": {
                    "x": -7.48526668548584,
                    "y": 0.0437980554997921,
                    "z": 0.031680572777986526
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8959455490112305,
                "transform": {
                    "location": {
                        "x": -56.99781036376953,
                        "y": 4294.603515625,
                        "z": 372.62628173828125
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.2513850927352905,
                        "yaw": 179.66505432128906
                    }
                },
                "velocity": {
                    "x": -7.895741939544678,
                    "y": 0.04619944095611572,
                    "z": 0.032833803445100784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.56316089630127,
                "transform": {
                    "location": {
                        "x": -75.22046661376953,
                        "y": 4294.71044921875,
                        "z": 372.70111083984375
                    },
                    "rotation": {
                        "roll": 2.6859384888666682e-05,
                        "pitch": 0.3615833520889282,
                        "yaw": 179.6497039794922
                    }
                },
                "velocity": {
                    "x": -8.562943458557129,
                    "y": 0.05066677927970886,
                    "z": 0.03417547047138214
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058253288269043,
                "transform": {
                    "location": {
                        "x": -95.98640441894531,
                        "y": 4294.83349609375,
                        "z": 372.7945251464844
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": 0.2295967936515808,
                        "yaw": 179.6622772216797
                    }
                },
                "velocity": {
                    "x": -8.0580415725708,
                    "y": 0.047532953321933746,
                    "z": 0.033913202583789825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08734691888093948,
        "expert_target_speed": 10.0,
        "target_point": [
            33.20888534673022,
            0.36117059515337835
        ],
        "target_point_next": [
            84.20745094950793,
            0.7412561422284549
        ]
    },
    "185": {
        "acceleration": [
            0.5548667907714844,
            0.05447566509246826,
            0.003144592046737671
        ],
        "angular_velocity": [
            -0.022518251091241837,
            0.03381655365228653,
            1.373073697090149
        ],
        "forward_vector": [
            -0.9998822212219238,
            0.01501606684178114,
            0.0031574908643960953
        ],
        "right_vector": [
            -0.015017874538898468,
            -0.9998870491981506,
            -0.000549609016161412
        ],
        "location": [
            -80.01273345947266,
            4291.7265625,
            372.7214050292969
        ],
        "rotation": [
            0.03149043396115303,
            0.18091121315956116,
            179.1396026611328
        ],
        "velocity": [
            -10.921919822692871,
            0.16813184320926666,
            0.04488661512732506
        ],
        "speed": 10.923213855364748,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0062837600708,
                "transform": {
                    "location": {
                        "x": -145.681640625,
                        "y": 4301.73779296875,
                        "z": 372.9976806640625
                    },
                    "rotation": {
                        "roll": -0.09411618858575821,
                        "pitch": -0.28238049149513245,
                        "yaw": 0.03270059823989868
                    }
                },
                "velocity": {
                    "x": 8.004900932312012,
                    "y": 0.05192424729466438,
                    "z": -0.13945196568965912
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017496109008789,
                "transform": {
                    "location": {
                        "x": -144.52569580078125,
                        "y": 4298.4873046875,
                        "z": 373.0066833496094
                    },
                    "rotation": {
                        "roll": -0.011016844771802425,
                        "pitch": -0.22644124925136566,
                        "yaw": 0.13111896812915802
                    }
                },
                "velocity": {
                    "x": 8.017383575439453,
                    "y": 0.02866695635020733,
                    "z": 0.03137405216693878
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.18685531616211,
                "transform": {
                    "location": {
                        "x": -104.48109436035156,
                        "y": 4301.57861328125,
                        "z": 372.8141784667969
                    },
                    "rotation": {
                        "roll": 0.0016743558226153255,
                        "pitch": -0.21646234393119812,
                        "yaw": -0.2601623833179474
                    }
                },
                "velocity": {
                    "x": 8.186688423156738,
                    "y": -0.04018415883183479,
                    "z": -0.03335566818714142
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005152702331543,
                "transform": {
                    "location": {
                        "x": -61.05085754394531,
                        "y": 4301.32666015625,
                        "z": 372.6512451171875
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": -0.23635868728160858,
                        "yaw": -0.3204955756664276
                    }
                },
                "velocity": {
                    "x": 8.004959106445312,
                    "y": -0.04496144503355026,
                    "z": -0.03290902078151703
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.019472122192383,
                "transform": {
                    "location": {
                        "x": -61.750389099121094,
                        "y": 4298.08251953125,
                        "z": 372.6394958496094
                    },
                    "rotation": {
                        "roll": 0.0009426917531527579,
                        "pitch": -0.23806622624397278,
                        "yaw": -0.336944580078125
                    }
                },
                "velocity": {
                    "x": 8.019265174865723,
                    "y": -0.0470803901553154,
                    "z": -0.03312879428267479
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059691429138184,
                "transform": {
                    "location": {
                        "x": -16.807655334472656,
                        "y": 4301.06787109375,
                        "z": 372.4619140625
                    },
                    "rotation": {
                        "roll": -0.00021362295956350863,
                        "pitch": -0.24579116702079773,
                        "yaw": -0.34667959809303284
                    }
                },
                "velocity": {
                    "x": 8.059475898742676,
                    "y": -0.04884963110089302,
                    "z": -0.03287846967577934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053515434265137,
                "transform": {
                    "location": {
                        "x": -16.84663963317871,
                        "y": 4297.81884765625,
                        "z": 372.46197509765625
                    },
                    "rotation": {
                        "roll": 0.0005403206450864673,
                        "pitch": -0.2456955462694168,
                        "yaw": -0.3666076064109802
                    }
                },
                "velocity": {
                    "x": 8.053293228149414,
                    "y": -0.04988836124539375,
                    "z": -0.03304653987288475
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002703666687012,
                "transform": {
                    "location": {
                        "x": -103.6000747680664,
                        "y": 4298.32666015625,
                        "z": 372.8143005371094
                    },
                    "rotation": {
                        "roll": 0.0010756675619632006,
                        "pitch": -0.21041762828826904,
                        "yaw": -0.3410339057445526
                    }
                },
                "velocity": {
                    "x": 8.002513885498047,
                    "y": -0.04593556746840477,
                    "z": -0.03035227209329605
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.193233013153076,
                "transform": {
                    "location": {
                        "x": -41.11390686035156,
                        "y": 4294.5087890625,
                        "z": 372.55401611328125
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.20521984994411469,
                        "yaw": 179.66470336914062
                    }
                },
                "velocity": {
                    "x": -7.19304895401001,
                    "y": 0.042079370468854904,
                    "z": 0.029625872150063515
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.674574851989746,
                "transform": {
                    "location": {
                        "x": -59.072811126708984,
                        "y": 4294.61572265625,
                        "z": 372.63421630859375
                    },
                    "rotation": {
                        "roll": -0.0012512204702943563,
                        "pitch": 0.44148290157318115,
                        "yaw": 179.66552734375
                    }
                },
                "velocity": {
                    "x": -8.674357414245605,
                    "y": 0.05067870020866394,
                    "z": 0.03461650758981705
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.579188346862793,
                "transform": {
                    "location": {
                        "x": -77.4481201171875,
                        "y": 4294.72412109375,
                        "z": 372.70953369140625
                    },
                    "rotation": {
                        "roll": 0.003260605037212372,
                        "pitch": 0.5545225143432617,
                        "yaw": 179.6266632080078
                    }
                },
                "velocity": {
                    "x": -9.578925132751465,
                    "y": 0.0592498779296875,
                    "z": 0.03923731669783592
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998982906341553,
                "transform": {
                    "location": {
                        "x": -97.99343872070312,
                        "y": 4294.84521484375,
                        "z": 372.8026123046875
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.23073060810565948,
                        "yaw": 179.6587677001953
                    }
                },
                "velocity": {
                    "x": -7.998775005340576,
                    "y": 0.04764652997255325,
                    "z": 0.03250831365585327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.10380405932664871,
        "expert_target_speed": 10.0,
        "target_point": [
            30.46077257946124,
            0.4144763173605547
        ],
        "target_point_next": [
            81.45863858600009,
            0.8790420748444284
        ]
    },
    "190": {
        "acceleration": [
            0.5442428588867188,
            0.041955411434173584,
            0.006537288427352905
        ],
        "angular_velocity": [
            0.04081640765070915,
            -0.01582210697233677,
            -2.0407774448394775
        ],
        "forward_vector": [
            -0.9998571872711182,
            0.016600152477622032,
            0.0031671468168497086
        ],
        "right_vector": [
            -0.016601525247097015,
            -0.9998621344566345,
            -0.0004078462952747941
        ],
        "location": [
            -82.72538757324219,
            4291.77001953125,
            372.73248291015625
        ],
        "rotation": [
            0.02336798794567585,
            0.18146444857120514,
            179.048828125
        ],
        "velocity": [
            -10.785209655761719,
            0.1803278625011444,
            0.04486579820513725
        ],
        "speed": 10.786717084300026,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.199068069458008,
                "transform": {
                    "location": {
                        "x": -143.654052734375,
                        "y": 4301.7431640625,
                        "z": 372.9775695800781
                    },
                    "rotation": {
                        "roll": -0.02865600772202015,
                        "pitch": -0.23895415663719177,
                        "yaw": 0.18990859389305115
                    }
                },
                "velocity": {
                    "x": 8.198869705200195,
                    "y": 0.027310535311698914,
                    "z": -0.050027091056108475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.19692611694336,
                "transform": {
                    "location": {
                        "x": -142.4979705810547,
                        "y": 4298.494140625,
                        "z": 373.0067443847656
                    },
                    "rotation": {
                        "roll": -0.003570556640625,
                        "pitch": -0.21575883030891418,
                        "yaw": 0.20663940906524658
                    }
                },
                "velocity": {
                    "x": 8.196855545043945,
                    "y": 0.028822313994169235,
                    "z": -0.01790485344827175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.995634078979492,
                "transform": {
                    "location": {
                        "x": -102.45421600341797,
                        "y": 4301.5693359375,
                        "z": 372.8062438964844
                    },
                    "rotation": {
                        "roll": 0.0017042569816112518,
                        "pitch": -0.23364026844501495,
                        "yaw": -0.2854614555835724
                    }
                },
                "velocity": {
                    "x": 7.995458126068115,
                    "y": -0.041874852031469345,
                    "z": -0.03250676393508911
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063942909240723,
                "transform": {
                    "location": {
                        "x": -59.041873931884766,
                        "y": 4301.31494140625,
                        "z": 372.6429748535156
                    },
                    "rotation": {
                        "roll": 0.0004295622929930687,
                        "pitch": -0.2370007187128067,
                        "yaw": -0.3240966200828552
                    }
                },
                "velocity": {
                    "x": 8.063742637634277,
                    "y": -0.045726727694272995,
                    "z": -0.03374481573700905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079524993896484,
                "transform": {
                    "location": {
                        "x": -59.73781204223633,
                        "y": 4298.0703125,
                        "z": 372.6311340332031
                    },
                    "rotation": {
                        "roll": 2.829457116604317e-05,
                        "pitch": -0.23678214848041534,
                        "yaw": -0.3391723334789276
                    }
                },
                "velocity": {
                    "x": 8.079305648803711,
                    "y": -0.04941536858677864,
                    "z": -0.033258553594350815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0470609664917,
                "transform": {
                    "location": {
                        "x": -14.794062614440918,
                        "y": 4301.056640625,
                        "z": 372.4532470703125
                    },
                    "rotation": {
                        "roll": 0.0006466199411079288,
                        "pitch": -0.24734163284301758,
                        "yaw": -0.3497314453125
                    }
                },
                "velocity": {
                    "x": 8.046841621398926,
                    "y": -0.04913533106446266,
                    "z": -0.033392298966646194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051009178161621,
                "transform": {
                    "location": {
                        "x": -14.832968711853027,
                        "y": 4297.80712890625,
                        "z": 372.45330810546875
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.24844811856746674,
                        "yaw": -0.3355408012866974
                    }
                },
                "velocity": {
                    "x": 8.050786972045898,
                    "y": -0.04892285168170929,
                    "z": -0.03438272699713707
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.554129600524902,
                "transform": {
                    "location": {
                        "x": -101.44913482666016,
                        "y": 4298.314453125,
                        "z": 372.8056945800781
                    },
                    "rotation": {
                        "roll": 0.00015443837037310004,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.3160399794578552
                    }
                },
                "velocity": {
                    "x": 8.55393123626709,
                    "y": -0.047779206186532974,
                    "z": -0.03328648582100868
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.036614418029785,
                "transform": {
                    "location": {
                        "x": -43.00749969482422,
                        "y": 4294.5205078125,
                        "z": 372.5613708496094
                    },
                    "rotation": {
                        "roll": 0.0002648007939569652,
                        "pitch": 0.27691635489463806,
                        "yaw": 179.6617431640625
                    }
                },
                "velocity": {
                    "x": -8.03640079498291,
                    "y": 0.04749196022748947,
                    "z": 0.03416363522410393
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.148090362548828,
                "transform": {
                    "location": {
                        "x": -61.46695327758789,
                        "y": 4294.6298828125,
                        "z": 372.6429138183594
                    },
                    "rotation": {
                        "roll": 0.0004945048131048679,
                        "pitch": 0.743985116481781,
                        "yaw": 179.65765380859375
                    }
                },
                "velocity": {
                    "x": -10.147826194763184,
                    "y": 0.06070873513817787,
                    "z": 0.04099738970398903
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.898186683654785,
                "transform": {
                    "location": {
                        "x": -79.9378890991211,
                        "y": 4294.73974609375,
                        "z": 372.7198791503906
                    },
                    "rotation": {
                        "roll": 0.000647863547783345,
                        "pitch": 0.5319487452507019,
                        "yaw": 179.63999938964844
                    }
                },
                "velocity": {
                    "x": -9.897918701171875,
                    "y": 0.0602092444896698,
                    "z": 0.04086665064096451
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059252738952637,
                "transform": {
                    "location": {
                        "x": -100.00125122070312,
                        "y": 4294.85693359375,
                        "z": 372.8107604980469
                    },
                    "rotation": {
                        "roll": -0.0007019040640443563,
                        "pitch": 0.22993147373199463,
                        "yaw": 179.65890502929688
                    }
                },
                "velocity": {
                    "x": -8.059039115905762,
                    "y": 0.0480034276843071,
                    "z": 0.03378808870911598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.12619483470916748,
        "expert_target_speed": 10.0,
        "target_point": [
            27.747076085307423,
            0.4611486908145227
        ],
        "target_point_next": [
            78.74414221283172,
            1.0064971563230924
        ]
    },
    "195": {
        "acceleration": [
            0.5270195007324219,
            0.026722252368927002,
            -0.0036697834730148315
        ],
        "angular_velocity": [
            -0.015058225020766258,
            0.009615067392587662,
            1.6078715324401855
        ],
        "forward_vector": [
            -0.9998431205749512,
            0.01742376573383808,
            0.003178948536515236
        ],
        "right_vector": [
            -0.017424823716282845,
            -0.9998481273651123,
            -0.00030589886591769755
        ],
        "location": [
            -85.40444946289062,
            4291.81591796875,
            372.7434997558594
        ],
        "rotation": [
            0.01752680167555809,
            0.18214064836502075,
            179.0016326904297
        ],
        "velocity": [
            -10.652353286743164,
            0.18917405605316162,
            0.04466044157743454
        ],
        "speed": 10.654032915711849,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.999587059020996,
                "transform": {
                    "location": {
                        "x": -141.63038635253906,
                        "y": 4301.75,
                        "z": 372.9676513671875
                    },
                    "rotation": {
                        "roll": -0.01312255859375,
                        "pitch": -0.23095600306987762,
                        "yaw": 0.19366398453712463
                    }
                },
                "velocity": {
                    "x": 7.999461650848389,
                    "y": 0.02747642621397972,
                    "z": -0.035396914929151535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00338363647461,
                "transform": {
                    "location": {
                        "x": -140.47366333007812,
                        "y": 4298.501953125,
                        "z": 373.00054931640625
                    },
                    "rotation": {
                        "roll": -0.0036621096078306437,
                        "pitch": -0.22204260528087616,
                        "yaw": 0.21043920516967773
                    }
                },
                "velocity": {
                    "x": 8.003281593322754,
                    "y": 0.029273973777890205,
                    "z": -0.02795458771288395
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.054758071899414,
                "transform": {
                    "location": {
                        "x": -100.4546890258789,
                        "y": 4301.55908203125,
                        "z": 372.79815673828125
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.23247914016246796,
                        "yaw": -0.2958068251609802
                    }
                },
                "velocity": {
                    "x": 8.054583549499512,
                    "y": -0.04159604012966156,
                    "z": -0.032821524888277054
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00439739227295,
                "transform": {
                    "location": {
                        "x": -57.03398132324219,
                        "y": 4301.30322265625,
                        "z": 372.6346130371094
                    },
                    "rotation": {
                        "roll": 0.001448758994229138,
                        "pitch": -0.23596252501010895,
                        "yaw": -0.3239135146141052
                    }
                },
                "velocity": {
                    "x": 8.004199981689453,
                    "y": -0.0452144481241703,
                    "z": -0.03345251828432083
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020767211914062,
                "transform": {
                    "location": {
                        "x": -57.72538757324219,
                        "y": 4298.05908203125,
                        "z": 372.6228332519531
                    },
                    "rotation": {
                        "roll": -0.0005798340425826609,
                        "pitch": -0.23772472143173218,
                        "yaw": -0.3460387885570526
                    }
                },
                "velocity": {
                    "x": 8.020552635192871,
                    "y": -0.04839864745736122,
                    "z": -0.033200524747371674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -12.739453315734863,
                        "y": 4301.0048828125,
                        "z": 372.44482421875
                    },
                    "rotation": {
                        "roll": -5.2110701170837714e-11,
                        "pitch": -0.24981415271759033,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -12.778515815734863,
                        "y": 4297.75537109375,
                        "z": 372.44482421875
                    },
                    "rotation": {
                        "roll": -5.2110701170837714e-11,
                        "pitch": -0.24981415271759033,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.148697853088379,
                "transform": {
                    "location": {
                        "x": -99.37007904052734,
                        "y": 4298.30322265625,
                        "z": 372.7976989746094
                    },
                    "rotation": {
                        "roll": -0.00033569327206350863,
                        "pitch": -0.24291566014289856,
                        "yaw": -0.3281554877758026
                    }
                },
                "velocity": {
                    "x": 8.148500442504883,
                    "y": -0.04643673822283745,
                    "z": -0.03273848816752434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.285417556762695,
                "transform": {
                    "location": {
                        "x": -45.17890548706055,
                        "y": 4294.53369140625,
                        "z": 372.5701904296875
                    },
                    "rotation": {
                        "roll": 0.0016564138932153583,
                        "pitch": 0.3117913007736206,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -9.285179138183594,
                    "y": 0.054758470505476,
                    "z": 0.03780025243759155
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.572858810424805,
                "transform": {
                    "location": {
                        "x": -63.95812225341797,
                        "y": 4294.64501953125,
                        "z": 372.6546936035156
                    },
                    "rotation": {
                        "roll": 0.0011094406945630908,
                        "pitch": 0.3253355622291565,
                        "yaw": 179.65740966796875
                    }
                },
                "velocity": {
                    "x": -9.572603225708008,
                    "y": 0.05722716823220253,
                    "z": 0.04023803770542145
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.459386825561523,
                "transform": {
                    "location": {
                        "x": -82.25718688964844,
                        "y": 4294.75390625,
                        "z": 372.7314758300781
                    },
                    "rotation": {
                        "roll": -0.0010681148851290345,
                        "pitch": -0.024014944210648537,
                        "yaw": 179.66917419433594
                    }
                },
                "velocity": {
                    "x": -8.459165573120117,
                    "y": 0.05016351491212845,
                    "z": 0.03498204052448273
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999344348907471,
                "transform": {
                    "location": {
                        "x": -102.0082778930664,
                        "y": 4294.86865234375,
                        "z": 372.8188171386719
                    },
                    "rotation": {
                        "roll": 0.00022951231221668422,
                        "pitch": 0.22900940477848053,
                        "yaw": 179.65887451171875
                    }
                },
                "velocity": {
                    "x": -7.9991350173950195,
                    "y": 0.047590143978595734,
                    "z": 0.03288907930254936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1480141580104828,
        "expert_target_speed": 10.0,
        "target_point": [
            25.067231773859405,
            0.4832237444887445
        ],
        "target_point_next": [
            76.06383123632163,
            1.0705923077563375
        ]
    },
    "200": {
        "acceleration": [
            0.5159187316894531,
            -0.014201700687408447,
            0.0046347081661224365
        ],
        "angular_velocity": [
            -0.01238729152828455,
            0.013818567618727684,
            -1.8490164279937744
        ],
        "forward_vector": [
            -0.9998311400413513,
            0.018095040693879128,
            0.0032021941151469946
        ],
        "right_vector": [
            -0.018095457926392555,
            -0.999836266040802,
            -0.00010138683865079656
        ],
        "location": [
            -88.05085754394531,
            4291.86279296875,
            372.75433349609375
        ],
        "rotation": [
            0.005809067748486996,
            0.18347252905368805,
            178.96316528320312
        ],
        "velocity": [
            -10.522626876831055,
            0.18831779062747955,
            0.04456227272748947
        ],
        "speed": 10.524311853003695,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.186894416809082,
                "transform": {
                    "location": {
                        "x": -139.60609436035156,
                        "y": 4301.7548828125,
                        "z": 372.9593200683594
                    },
                    "rotation": {
                        "roll": 0.016728395596146584,
                        "pitch": -0.22439901530742645,
                        "yaw": 0.1217208057641983
                    }
                },
                "velocity": {
                    "x": 8.186829566955566,
                    "y": 0.0022360298316925764,
                    "z": -0.03246508911252022
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.186607360839844,
                "transform": {
                    "location": {
                        "x": -138.4492950439453,
                        "y": 4298.50341796875,
                        "z": 372.9930114746094
                    },
                    "rotation": {
                        "roll": 0.005588992033153772,
                        "pitch": -0.22097709774971008,
                        "yaw": 0.022344930097460747
                    }
                },
                "velocity": {
                    "x": 8.186543464660645,
                    "y": -0.009943831712007523,
                    "z": -0.030753515660762787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.054171562194824,
                "transform": {
                    "location": {
                        "x": -98.43663787841797,
                        "y": 4301.5478515625,
                        "z": 372.78997802734375
                    },
                    "rotation": {
                        "roll": 0.0015681504737585783,
                        "pitch": -0.23017053306102753,
                        "yaw": -0.3213805854320526
                    }
                },
                "velocity": {
                    "x": 8.05396842956543,
                    "y": -0.046791452914476395,
                    "z": -0.032762523740530014
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063944816589355,
                "transform": {
                    "location": {
                        "x": -55.02531051635742,
                        "y": 4301.2919921875,
                        "z": 372.6263122558594
                    },
                    "rotation": {
                        "roll": -6.103511987021193e-05,
                        "pitch": -0.23733539879322052,
                        "yaw": -0.326873779296875
                    }
                },
                "velocity": {
                    "x": 8.063742637634277,
                    "y": -0.046123165637254715,
                    "z": -0.03352353349328041
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075804710388184,
                "transform": {
                    "location": {
                        "x": -55.713279724121094,
                        "y": 4298.04736328125,
                        "z": 372.6144714355469
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.23690509796142578,
                        "yaw": -0.3460998237133026
                    }
                },
                "velocity": {
                    "x": 8.075587272644043,
                    "y": -0.048818133771419525,
                    "z": -0.03358040750026703
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -10.657422065734863,
                        "y": 4300.93994140625,
                        "z": 372.4364318847656
                    },
                    "rotation": {
                        "roll": -5.2110701170837714e-11,
                        "pitch": -0.24981415271759033,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -10.696249961853027,
                        "y": 4297.6904296875,
                        "z": 372.43646240234375
                    },
                    "rotation": {
                        "roll": -5.2110701170837714e-11,
                        "pitch": -0.24981415271759033,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.482547283172607,
                "transform": {
                    "location": {
                        "x": -97.37100982666016,
                        "y": 4298.291015625,
                        "z": 372.78961181640625
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": -0.24762167036533356,
                        "yaw": -0.312408447265625
                    }
                },
                "velocity": {
                    "x": 7.482367992401123,
                    "y": -0.041991811245679855,
                    "z": -0.03029703162610531
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.787479400634766,
                "transform": {
                    "location": {
                        "x": -47.6171875,
                        "y": 4294.5478515625,
                        "z": 372.5804748535156
                    },
                    "rotation": {
                        "roll": 0.0009119349415414035,
                        "pitch": 0.2875782549381256,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -9.787226676940918,
                    "y": 0.057856485247612,
                    "z": 0.04015990346670151
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7993340492248535,
                "transform": {
                    "location": {
                        "x": -66.0942153930664,
                        "y": 4294.65771484375,
                        "z": 372.6656494140625
                    },
                    "rotation": {
                        "roll": -0.00012207026884425431,
                        "pitch": -0.2392888367176056,
                        "yaw": 179.6580352783203
                    }
                },
                "velocity": {
                    "x": -7.79913330078125,
                    "y": 0.045355021953582764,
                    "z": 0.032726991921663284
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024405479431152,
                "transform": {
                    "location": {
                        "x": -84.27265167236328,
                        "y": 4294.765625,
                        "z": 372.7398681640625
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.06222302094101906,
                        "yaw": 179.66017150878906
                    }
                },
                "velocity": {
                    "x": -8.024194717407227,
                    "y": 0.047402866184711456,
                    "z": 0.033661678433418274
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058574676513672,
                "transform": {
                    "location": {
                        "x": -104.015625,
                        "y": 4294.88037109375,
                        "z": 372.8268737792969
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.22699449956417084,
                        "yaw": 179.6590576171875
                    }
                },
                "velocity": {
                    "x": -8.058363914489746,
                    "y": 0.04797428473830223,
                    "z": 0.033168621361255646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.16954027116298676,
        "expert_target_speed": 10.0,
        "target_point": [
            22.420078700895605,
            0.49903408961617923
        ],
        "target_point_next": [
            73.4162723183187,
            1.1206409575109038
        ]
    },
    "205": {
        "acceleration": [
            0.5031394958496094,
            -0.013852119445800781,
            0.0005672872066497803
        ],
        "angular_velocity": [
            0.019538411870598793,
            0.0018583949422463775,
            1.9418997764587402
        ],
        "forward_vector": [
            -0.9998393654823303,
            0.017630677670240402,
            0.0032266320195049047
        ],
        "right_vector": [
            -0.01763075217604637,
            -0.9998445510864258,
            5.326293376128888e-06
        ],
        "location": [
            -90.66500091552734,
            4291.90966796875,
            372.76507568359375
        ],
        "rotation": [
            -0.0003051757230423391,
            0.18487271666526794,
            178.98977661132812
        ],
        "velocity": [
            -10.396061897277832,
            0.1848619282245636,
            0.04349909722805023
        ],
        "speed": 10.397705367269205,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.988041877746582,
                "transform": {
                    "location": {
                        "x": -137.5851593017578,
                        "y": 4301.75439453125,
                        "z": 372.95147705078125
                    },
                    "rotation": {
                        "roll": 0.01998526230454445,
                        "pitch": -0.23053252696990967,
                        "yaw": -0.0438842847943306
                    }
                },
                "velocity": {
                    "x": 7.9879679679870605,
                    "y": -0.011505723930895329,
                    "z": -0.032304514199495316
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.992257595062256,
                "transform": {
                    "location": {
                        "x": -136.42803955078125,
                        "y": 4298.5009765625,
                        "z": 372.9852600097656
                    },
                    "rotation": {
                        "roll": 0.0018024755408987403,
                        "pitch": -0.22402335703372955,
                        "yaw": -0.0791320726275444
                    }
                },
                "velocity": {
                    "x": 7.992188930511475,
                    "y": -0.014041152782738209,
                    "z": -0.030028142035007477
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.054261207580566,
                "transform": {
                    "location": {
                        "x": -96.42414093017578,
                        "y": 4301.53662109375,
                        "z": 372.7818298339844
                    },
                    "rotation": {
                        "roll": 0.0004127311985939741,
                        "pitch": -0.23382468521595,
                        "yaw": -0.3260497748851776
                    }
                },
                "velocity": {
                    "x": 8.054061889648438,
                    "y": -0.045764412730932236,
                    "z": -0.033221535384655
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004663467407227,
                "transform": {
                    "location": {
                        "x": -53.01710891723633,
                        "y": 4301.27978515625,
                        "z": 372.6180114746094
                    },
                    "rotation": {
                        "roll": 0.00026548339519649744,
                        "pitch": -0.23624257743358612,
                        "yaw": -0.32763662934303284
                    }
                },
                "velocity": {
                    "x": 8.004464149475098,
                    "y": -0.04579603672027588,
                    "z": -0.03298317268490791
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023943901062012,
                "transform": {
                    "location": {
                        "x": -53.70085906982422,
                        "y": 4298.03564453125,
                        "z": 372.6061706542969
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.23791596293449402,
                        "yaw": -0.347900390625
                    }
                },
                "velocity": {
                    "x": 8.023721694946289,
                    "y": -0.0501638799905777,
                    "z": -0.032416537404060364
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.727458477020264,
                "transform": {
                    "location": {
                        "x": -95.64617156982422,
                        "y": 4298.28076171875,
                        "z": 372.78277587890625
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": -0.25969743728637695,
                        "yaw": -0.2515564262866974
                    }
                },
                "velocity": {
                    "x": 6.727293014526367,
                    "y": -0.03749271482229233,
                    "z": -0.028721516951918602
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.37874698638916,
                "transform": {
                    "location": {
                        "x": -49.89210891723633,
                        "y": 4294.56103515625,
                        "z": 372.5907287597656
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.17684724926948547,
                        "yaw": 179.6608428955078
                    }
                },
                "velocity": {
                    "x": -8.378525733947754,
                    "y": 0.04964559152722359,
                    "z": 0.03536096587777138
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.770328521728516,
                "transform": {
                    "location": {
                        "x": -68.0082778930664,
                        "y": 4294.66943359375,
                        "z": 372.6726989746094
                    },
                    "rotation": {
                        "roll": 6.715505151078105e-05,
                        "pitch": 0.00025954717420972884,
                        "yaw": 179.66004943847656
                    }
                },
                "velocity": {
                    "x": -7.770119667053223,
                    "y": 0.046090465039014816,
                    "z": 0.0334201343357563
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.651169776916504,
                "transform": {
                    "location": {
                        "x": -86.37679290771484,
                        "y": 4294.77783203125,
                        "z": 372.74713134765625
                    },
                    "rotation": {
                        "roll": 0.000629178830422461,
                        "pitch": 0.3166338801383972,
                        "yaw": 179.66299438476562
                    }
                },
                "velocity": {
                    "x": -8.65095329284668,
                    "y": 0.051008570939302444,
                    "z": 0.033894214779138565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998973846435547,
                "transform": {
                    "location": {
                        "x": -106.02273559570312,
                        "y": 4294.89208984375,
                        "z": 372.83489990234375
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": 0.2277253270149231,
                        "yaw": 179.65907287597656
                    }
                },
                "velocity": {
                    "x": -7.998764991760254,
                    "y": 0.04765414074063301,
                    "z": 0.032728709280490875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18569566309452057,
        "expert_target_speed": 10.0,
        "target_point": [
            19.805744567165245,
            0.48940005254484165
        ],
        "target_point_next": [
            70.80222138325374,
            1.0873222130869455
        ]
    },
    "210": {
        "acceleration": [
            0.5002593994140625,
            -0.017608702182769775,
            0.0044155120849609375
        ],
        "angular_velocity": [
            -0.0014011358143761754,
            -0.03296346589922905,
            -1.9123733043670654
        ],
        "forward_vector": [
            -0.9998364448547363,
            0.017796827480196953,
            0.003215545555576682
        ],
        "right_vector": [
            -0.017796741798520088,
            -0.9998416304588318,
            5.539345511351712e-05
        ],
        "location": [
            -93.24788665771484,
            4291.955078125,
            372.7756652832031
        ],
        "rotation": [
            -0.0031738276593387127,
            0.1842375099658966,
            178.98025512695312
        ],
        "velocity": [
            -10.271906852722168,
            0.18069466948509216,
            0.041147325187921524
        ],
        "speed": 10.273496043440177,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.725005149841309,
                "transform": {
                    "location": {
                        "x": -135.64366149902344,
                        "y": 4301.7509765625,
                        "z": 372.9449462890625
                    },
                    "rotation": {
                        "roll": 0.0114172687754035,
                        "pitch": -0.5286498069763184,
                        "yaw": -0.1103515475988388
                    }
                },
                "velocity": {
                    "x": 6.72493839263916,
                    "y": -0.014034188352525234,
                    "z": -0.026489872485399246
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.007701873779297,
                "transform": {
                    "location": {
                        "x": -134.64991760253906,
                        "y": 4298.49658203125,
                        "z": 372.9799499511719
                    },
                    "rotation": {
                        "roll": 0.004706759005784988,
                        "pitch": -0.395146906375885,
                        "yaw": -0.1360473483800888
                    }
                },
                "velocity": {
                    "x": 6.007599830627441,
                    "y": -0.024465156719088554,
                    "z": -0.025088973343372345
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.030555725097656,
                "transform": {
                    "location": {
                        "x": -94.4144515991211,
                        "y": 4301.5244140625,
                        "z": 372.7737121582031
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.23221275210380554,
                        "yaw": -0.32952880859375
                    }
                },
                "velocity": {
                    "x": 8.030355453491211,
                    "y": -0.04635754972696304,
                    "z": -0.032582905143499374
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064675331115723,
                "transform": {
                    "location": {
                        "x": -51.008358001708984,
                        "y": 4301.2685546875,
                        "z": 372.6097106933594
                    },
                    "rotation": {
                        "roll": 0.0005040199030190706,
                        "pitch": -0.23845554888248444,
                        "yaw": -0.327850341796875
                    }
                },
                "velocity": {
                    "x": 8.064475059509277,
                    "y": -0.04611876234412193,
                    "z": -0.033151354640722275
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075138092041016,
                "transform": {
                    "location": {
                        "x": -51.68796920776367,
                        "y": 4298.0234375,
                        "z": 372.5978088378906
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.23818917572498322,
                        "yaw": -0.3502502143383026
                    }
                },
                "velocity": {
                    "x": 8.074915885925293,
                    "y": -0.049280326813459396,
                    "z": -0.033984795212745667
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.3358259201049805,
                "transform": {
                    "location": {
                        "x": -93.90265655517578,
                        "y": 4298.27099609375,
                        "z": 372.7752380371094
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.21963155269622803,
                        "yaw": -0.2449645847082138
                    }
                },
                "velocity": {
                    "x": 7.335654258728027,
                    "y": -0.04047787934541702,
                    "z": -0.02959660068154335
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.439082622528076,
                "transform": {
                    "location": {
                        "x": -51.82148361206055,
                        "y": 4294.5732421875,
                        "z": 372.5987548828125
                    },
                    "rotation": {
                        "roll": 0.00019129728025291115,
                        "pitch": 0.1777966469526291,
                        "yaw": 179.65809631347656
                    }
                },
                "velocity": {
                    "x": -7.438882350921631,
                    "y": 0.04437697306275368,
                    "z": 0.03172266110777855
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.442076683044434,
                "transform": {
                    "location": {
                        "x": -70.06570434570312,
                        "y": 4294.68115234375,
                        "z": 372.6799011230469
                    },
                    "rotation": {
                        "roll": -0.00027465802850201726,
                        "pitch": 0.3618975579738617,
                        "yaw": 179.66070556640625
                    }
                },
                "velocity": {
                    "x": -8.441862106323242,
                    "y": 0.05004521831870079,
                    "z": 0.03347131609916687
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.51976490020752,
                "transform": {
                    "location": {
                        "x": -88.68351745605469,
                        "y": 4294.7919921875,
                        "z": 372.7556457519531
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": 0.5412856340408325,
                        "yaw": 179.6622772216797
                    }
                },
                "velocity": {
                    "x": -9.51952838897705,
                    "y": 0.05438484624028206,
                    "z": 0.03938573598861694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058343887329102,
                "transform": {
                    "location": {
                        "x": -108.03023529052734,
                        "y": 4294.90380859375,
                        "z": 372.84295654296875
                    },
                    "rotation": {
                        "roll": -0.0003662109957076609,
                        "pitch": 0.22718574106693268,
                        "yaw": 179.65921020507812
                    }
                },
                "velocity": {
                    "x": -8.058135032653809,
                    "y": 0.047930311411619186,
                    "z": 0.03274504467844963
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3332429528236389,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21150150895118713,
        "expert_target_speed": 10.0,
        "target_point": [
            17.22237825199362,
            0.4921231881920004
        ],
        "target_point_next": [
            68.21875514716326,
            1.0985076617121248
        ]
    },
    "215": {
        "acceleration": [
            0.3661918640136719,
            -0.011290013790130615,
            0.00010527670383453369
        ],
        "angular_velocity": [
            0.045392245054244995,
            -0.009656122885644436,
            2.0442185401916504
        ],
        "forward_vector": [
            -0.9998465180397034,
            0.017305072396993637,
            0.0027445517480373383
        ],
        "right_vector": [
            -0.01730494759976864,
            -0.9998502731323242,
            6.924191256985068e-05
        ],
        "location": [
            -95.78960418701172,
            4292.0,
            372.7859802246094
        ],
        "rotation": [
            -0.003967284224927425,
            0.15725143253803253,
            179.00843811035156
        ],
        "velocity": [
            -10.063817024230957,
            0.17544148862361908,
            0.04071496054530144
        ],
        "speed": 10.065346134789966,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.69412899017334,
                "transform": {
                    "location": {
                        "x": -134.1531219482422,
                        "y": 4301.74560546875,
                        "z": 372.93988037109375
                    },
                    "rotation": {
                        "roll": 0.012475179508328438,
                        "pitch": -0.7158789038658142,
                        "yaw": -0.1823730766773224
                    }
                },
                "velocity": {
                    "x": 5.694051265716553,
                    "y": -0.0207908283919096,
                    "z": -0.021372122690081596
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.76669454574585,
                "transform": {
                    "location": {
                        "x": -133.20437622070312,
                        "y": 4298.4912109375,
                        "z": 372.9733581542969
                    },
                    "rotation": {
                        "roll": 5.3022827160020825e-06,
                        "pitch": -0.2924140393733978,
                        "yaw": -0.1793822944164276
                    }
                },
                "velocity": {
                    "x": 5.7666144371032715,
                    "y": -0.021106842905282974,
                    "z": -0.021935753524303436
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076467514038086,
                "transform": {
                    "location": {
                        "x": -92.39984130859375,
                        "y": 4301.51318359375,
                        "z": 372.7655334472656
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": -0.2320556640625,
                        "yaw": -0.3349303901195526
                    }
                },
                "velocity": {
                    "x": 8.076261520385742,
                    "y": -0.04722458869218826,
                    "z": -0.03318798914551735
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005005836486816,
                "transform": {
                    "location": {
                        "x": -49.0,
                        "y": 4301.25634765625,
                        "z": 372.6013488769531
                    },
                    "rotation": {
                        "roll": 0.0003145125228911638,
                        "pitch": -0.2372739315032959,
                        "yaw": -0.3336181044578552
                    }
                },
                "velocity": {
                    "x": 8.00479507446289,
                    "y": -0.048188209533691406,
                    "z": -0.0326208770275116
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024255752563477,
                "transform": {
                    "location": {
                        "x": -49.67554473876953,
                        "y": 4298.01220703125,
                        "z": 372.5894775390625
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": -0.23848970234394073,
                        "yaw": -0.3501892387866974
                    }
                },
                "velocity": {
                    "x": 8.024035453796387,
                    "y": -0.049067173153162,
                    "z": -0.033571455627679825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.202013969421387,
                "transform": {
                    "location": {
                        "x": -91.97601318359375,
                        "y": 4298.2607421875,
                        "z": 372.7673645019531
                    },
                    "rotation": {
                        "roll": 0.0006550954421982169,
                        "pitch": -0.21051324903964996,
                        "yaw": -0.27716064453125
                    }
                },
                "velocity": {
                    "x": 8.201813697814941,
                    "y": -0.047292523086071014,
                    "z": -0.03234754502773285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.225540161132812,
                "transform": {
                    "location": {
                        "x": -53.764373779296875,
                        "y": 4294.5849609375,
                        "z": 372.6062316894531
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.2592398226261139,
                        "yaw": 179.65757751464844
                    }
                },
                "velocity": {
                    "x": -8.225326538085938,
                    "y": 0.04918931424617767,
                    "z": 0.03300881385803223
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.541296005249023,
                "transform": {
                    "location": {
                        "x": -72.36343383789062,
                        "y": 4294.69482421875,
                        "z": 372.6883544921875
                    },
                    "rotation": {
                        "roll": -0.0006103513878770173,
                        "pitch": 0.6126201152801514,
                        "yaw": 179.6656494140625
                    }
                },
                "velocity": {
                    "x": -9.54105281829834,
                    "y": 0.05573383718729019,
                    "z": 0.03917834162712097
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.182284355163574,
                "transform": {
                    "location": {
                        "x": -90.99132537841797,
                        "y": 4294.8056640625,
                        "z": 372.76611328125
                    },
                    "rotation": {
                        "roll": -3.0517507184413262e-05,
                        "pitch": 0.25952666997909546,
                        "yaw": 179.68170166015625
                    }
                },
                "velocity": {
                    "x": -9.182059288024902,
                    "y": 0.052771542221307755,
                    "z": 0.036731719970703125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999095439910889,
                "transform": {
                    "location": {
                        "x": -110.03733825683594,
                        "y": 4294.91552734375,
                        "z": 372.8509826660156
                    },
                    "rotation": {
                        "roll": 0.00011732976417988539,
                        "pitch": 0.22769799828529358,
                        "yaw": 179.65896606445312
                    }
                },
                "velocity": {
                    "x": -7.998887062072754,
                    "y": 0.047609999775886536,
                    "z": 0.03271639719605446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32867905497550964,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2305726557970047,
        "expert_target_speed": 10.0,
        "target_point": [
            14.680504040368136,
            0.48458006795673036
        ],
        "target_point_next": [
            65.6771731602667,
            1.0658693586737915
        ]
    },
    "220": {
        "acceleration": [
            5.597057342529297,
            -0.11120051145553589,
            -0.006665065884590149
        ],
        "angular_velocity": [
            -0.007040340453386307,
            -1.280816674232483,
            -0.41908469796180725
        ],
        "forward_vector": [
            -0.9998488426208496,
            0.01719590276479721,
            -0.0025491684209555387
        ],
        "right_vector": [
            -0.017196226865053177,
            -0.9998521208763123,
            0.00010492820729268715
        ],
        "location": [
            -98.1585922241211,
            4292.04052734375,
            372.7966613769531
        ],
        "rotation": [
            -0.006011962890625,
            -0.14605675637722015,
            179.0146942138672
        ],
        "velocity": [
            -8.718310356140137,
            0.14993949234485626,
            0.035705097019672394
        ],
        "speed": 8.71959960762792,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.53078556060791,
                "transform": {
                    "location": {
                        "x": -132.68882751464844,
                        "y": 4301.73974609375,
                        "z": 372.9324645996094
                    },
                    "rotation": {
                        "roll": 0.0052892412059009075,
                        "pitch": -0.24697962403297424,
                        "yaw": -0.174346923828125
                    }
                },
                "velocity": {
                    "x": 6.530692100524902,
                    "y": -0.024432944133877754,
                    "z": -0.024992240592837334
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.640679359436035,
                "transform": {
                    "location": {
                        "x": -131.70155334472656,
                        "y": 4298.486328125,
                        "z": 372.9666442871094
                    },
                    "rotation": {
                        "roll": 8.097655154415406e-06,
                        "pitch": -0.18545328080654144,
                        "yaw": -0.2784118056297302
                    }
                },
                "velocity": {
                    "x": 6.640569686889648,
                    "y": -0.028776366263628006,
                    "z": -0.025090202689170837
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021000862121582,
                "transform": {
                    "location": {
                        "x": -90.38890075683594,
                        "y": 4301.5009765625,
                        "z": 372.75732421875
                    },
                    "rotation": {
                        "roll": 0.0006143736536614597,
                        "pitch": -0.2346169799566269,
                        "yaw": -0.3354491889476776
                    }
                },
                "velocity": {
                    "x": 8.020794868469238,
                    "y": -0.04689280316233635,
                    "z": -0.033207040280103683
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064458847045898,
                "transform": {
                    "location": {
                        "x": -46.99140548706055,
                        "y": 4301.2451171875,
                        "z": 372.59295654296875
                    },
                    "rotation": {
                        "roll": 7.089915015967563e-05,
                        "pitch": -0.23810037970542908,
                        "yaw": -0.3350524306297302
                    }
                },
                "velocity": {
                    "x": 8.064251899719238,
                    "y": -0.04719305783510208,
                    "z": -0.03337321802973747
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075016975402832,
                "transform": {
                    "location": {
                        "x": -47.66273498535156,
                        "y": 4298.00048828125,
                        "z": 372.5810852050781
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": -0.23828479647636414,
                        "yaw": -0.3499755859375
                    }
                },
                "velocity": {
                    "x": 8.074797630310059,
                    "y": -0.04930621385574341,
                    "z": -0.03342444449663162
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.557445526123047,
                "transform": {
                    "location": {
                        "x": -89.80953216552734,
                        "y": 4298.2490234375,
                        "z": 372.7586669921875
                    },
                    "rotation": {
                        "roll": 0.0010401431936770678,
                        "pitch": -0.2187163084745407,
                        "yaw": -0.2725829780101776
                    }
                },
                "velocity": {
                    "x": 8.557226181030273,
                    "y": -0.049097202718257904,
                    "z": -0.03648936375975609
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.35392951965332,
                "transform": {
                    "location": {
                        "x": -55.96476364135742,
                        "y": 4294.59814453125,
                        "z": 372.6150207519531
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.30481767654418945,
                        "yaw": 179.65771484375
                    }
                },
                "velocity": {
                    "x": -9.353687286376953,
                    "y": 0.055816974490880966,
                    "z": 0.037815161049366
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.001163482666016,
                "transform": {
                    "location": {
                        "x": -74.67054748535156,
                        "y": 4294.70849609375,
                        "z": 372.69921875
                    },
                    "rotation": {
                        "roll": 0.00029224352329038084,
                        "pitch": 0.24250584840774536,
                        "yaw": 179.6656036376953
                    }
                },
                "velocity": {
                    "x": -9.000935554504395,
                    "y": 0.05248729884624481,
                    "z": 0.03681333363056183
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.662884712219238,
                "transform": {
                    "location": {
                        "x": -93.24898529052734,
                        "y": 4294.81884765625,
                        "z": 372.77581787109375
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.11769098043441772,
                        "yaw": 179.64923095703125
                    }
                },
                "velocity": {
                    "x": -8.66265869140625,
                    "y": 0.050968341529369354,
                    "z": 0.03647128865122795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058548927307129,
                "transform": {
                    "location": {
                        "x": -112.044921875,
                        "y": 4294.92724609375,
                        "z": 372.8589782714844
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": 0.22529377043247223,
                        "yaw": 179.6516876220703
                    }
                },
                "velocity": {
                    "x": -8.058333396911621,
                    "y": 0.04905920848250389,
                    "z": 0.03276154398918152
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2875722348690033,
        "expert_target_speed": 9.122217205933781,
        "target_point": [
            12.311221974889538,
            0.48276873418981747
        ],
        "target_point_next": [
            63.307953990518975,
            1.0585137211363829
        ]
    },
    "225": {
        "acceleration": [
            4.143543243408203,
            -0.09579658508300781,
            -0.02147480845451355
        ],
        "angular_velocity": [
            -0.0035934296902269125,
            0.0337304063141346,
            0.5120236873626709
        ],
        "forward_vector": [
            -0.9998478293418884,
            0.01690807193517685,
            -0.004298792686313391
        ],
        "right_vector": [
            -0.016908714547753334,
            -0.9998570680618286,
            0.00011291699047433212
        ],
        "location": [
            -100.18382263183594,
            4292.07470703125,
            372.80517578125
        ],
        "rotation": [
            -0.0064697265625,
            -0.24630343914031982,
            179.03118896484375
        ],
        "velocity": [
            -7.583318710327148,
            0.1272944062948227,
            0.03126725181937218
        ],
        "speed": 7.5843870238979605,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019632339477539,
                "transform": {
                    "location": {
                        "x": -130.84632873535156,
                        "y": 4301.732421875,
                        "z": 372.9234924316406
                    },
                    "rotation": {
                        "roll": 0.003693136153742671,
                        "pitch": 0.2312701940536499,
                        "yaw": -0.1982422024011612
                    }
                },
                "velocity": {
                    "x": 8.019511222839355,
                    "y": -0.03167582303285599,
                    "z": -0.030463986098766327
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.538004875183105,
                "transform": {
                    "location": {
                        "x": -129.7470245361328,
                        "y": 4298.4775390625,
                        "z": 372.957763671875
                    },
                    "rotation": {
                        "roll": 5.121994763612747e-05,
                        "pitch": -0.050236038863658905,
                        "yaw": -0.2719725966453552
                    }
                },
                "velocity": {
                    "x": 8.537836074829102,
                    "y": -0.0418078638613224,
                    "z": -0.033694930374622345
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078511238098145,
                "transform": {
                    "location": {
                        "x": -88.37625122070312,
                        "y": 4301.48974609375,
                        "z": 372.7491455078125
                    },
                    "rotation": {
                        "roll": 0.001210638671182096,
                        "pitch": -0.23449404537677765,
                        "yaw": -0.337371826171875
                    }
                },
                "velocity": {
                    "x": 8.07829475402832,
                    "y": -0.04910985380411148,
                    "z": -0.03297317028045654
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004837989807129,
                "transform": {
                    "location": {
                        "x": -44.983280181884766,
                        "y": 4301.23291015625,
                        "z": 372.5846252441406
                    },
                    "rotation": {
                        "roll": 7.868369721109048e-05,
                        "pitch": -0.2381277084350586,
                        "yaw": -0.3351134955883026
                    }
                },
                "velocity": {
                    "x": 8.004634857177734,
                    "y": -0.04679565504193306,
                    "z": -0.03257274255156517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024094581604004,
                "transform": {
                    "location": {
                        "x": -45.65031051635742,
                        "y": 4297.98876953125,
                        "z": 372.57275390625
                    },
                    "rotation": {
                        "roll": 0.0006342061678878963,
                        "pitch": -0.2390497773885727,
                        "yaw": -0.3537902534008026
                    }
                },
                "velocity": {
                    "x": 8.023870468139648,
                    "y": -0.04966926574707031,
                    "z": -0.033573463559150696
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.142910957336426,
                "transform": {
                    "location": {
                        "x": -87.73179626464844,
                        "y": 4298.23779296875,
                        "z": 372.75030517578125
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.24609170854091644,
                        "yaw": -0.3319396674633026
                    }
                },
                "velocity": {
                    "x": 8.1427001953125,
                    "y": -0.04832019284367561,
                    "z": -0.033038124442100525
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.99737548828125,
                "transform": {
                    "location": {
                        "x": -58.31414031982422,
                        "y": 4294.611328125,
                        "z": 372.62518310546875
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": 0.2348150610923767,
                        "yaw": 179.65771484375
                    }
                },
                "velocity": {
                    "x": -8.997137069702148,
                    "y": 0.05382298305630684,
                    "z": 0.03725617378950119
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.863159656524658,
                "transform": {
                    "location": {
                        "x": -76.751953125,
                        "y": 4294.720703125,
                        "z": 372.7090148925781
                    },
                    "rotation": {
                        "roll": 0.0013815107522532344,
                        "pitch": -0.08075331896543503,
                        "yaw": 179.6648406982422
                    }
                },
                "velocity": {
                    "x": -7.862955093383789,
                    "y": 0.04589346423745155,
                    "z": 0.03336678445339203
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.474353313446045,
                "transform": {
                    "location": {
                        "x": -95.212890625,
                        "y": 4294.83056640625,
                        "z": 372.7848205566406
                    },
                    "rotation": {
                        "roll": -0.0005493162316270173,
                        "pitch": -0.1514594405889511,
                        "yaw": 179.68792724609375
                    }
                },
                "velocity": {
                    "x": -7.474170207977295,
                    "y": 0.04244859144091606,
                    "z": 0.03063088282942772
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999395370483398,
                "transform": {
                    "location": {
                        "x": -114.05203247070312,
                        "y": 4294.93896484375,
                        "z": 372.8669128417969
                    },
                    "rotation": {
                        "roll": 0.00045078375842422247,
                        "pitch": 0.22491128742694855,
                        "yaw": 179.65118408203125
                    }
                },
                "velocity": {
                    "x": -7.999180316925049,
                    "y": 0.048659175634384155,
                    "z": 0.032713573426008224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34020504355430603,
        "expert_target_speed": 8.275825363070867,
        "target_point": [
            10.28584169604771,
            0.47915551773715837
        ],
        "target_point_next": [
            61.282737416705224,
            1.0402129303976078
        ]
    },
    "230": {
        "acceleration": [
            12.586965560913086,
            -0.2025887370109558,
            -0.04144802689552307
        ],
        "angular_velocity": [
            0.06659648567438126,
            -1.6700716018676758,
            1.2660597562789917
        ],
        "forward_vector": [
            -0.9998748302459717,
            0.015533856116235256,
            -0.0030071688815951347
        ],
        "right_vector": [
            -0.015534359030425549,
            -0.9998793601989746,
            0.00014381004439201206
        ],
        "location": [
            -101.98406219482422,
            4292.1044921875,
            372.8121643066406
        ],
        "rotation": [
            -0.00823974609375,
            -0.1722983419895172,
            179.1099395751953
        ],
        "velocity": [
            -6.583498477935791,
            0.10433806478977203,
            0.0268180463463068
        ],
        "speed": 6.584325222887077,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.318533897399902,
                "transform": {
                    "location": {
                        "x": -128.75453186035156,
                        "y": 4301.72314453125,
                        "z": 372.9158935546875
                    },
                    "rotation": {
                        "roll": 0.009155713021755219,
                        "pitch": 0.0825360044836998,
                        "yaw": -0.2782287895679474
                    }
                },
                "velocity": {
                    "x": 8.318363189697266,
                    "y": -0.04199131950736046,
                    "z": -0.03276639059185982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052717208862305,
                "transform": {
                    "location": {
                        "x": -127.65890502929688,
                        "y": 4298.46728515625,
                        "z": 372.9510498046875
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": -0.2177669107913971,
                        "yaw": -0.304473876953125
                    }
                },
                "velocity": {
                    "x": 8.0525484085083,
                    "y": -0.04109892621636391,
                    "z": -0.03222988173365593
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022334098815918,
                "transform": {
                    "location": {
                        "x": -86.36382293701172,
                        "y": 4301.47802734375,
                        "z": 372.7408752441406
                    },
                    "rotation": {
                        "roll": 0.0008609642391093075,
                        "pitch": -0.2356005311012268,
                        "yaw": -0.3398437201976776
                    }
                },
                "velocity": {
                    "x": 8.022126197814941,
                    "y": -0.047579746693372726,
                    "z": -0.03267919644713402
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064091682434082,
                "transform": {
                    "location": {
                        "x": -42.97452926635742,
                        "y": 4301.2216796875,
                        "z": 372.5762939453125
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.2386399656534195,
                        "yaw": -0.338592529296875
                    }
                },
                "velocity": {
                    "x": 8.063879013061523,
                    "y": -0.04774632304906845,
                    "z": -0.0337984636425972
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075380325317383,
                "transform": {
                    "location": {
                        "x": -43.637420654296875,
                        "y": 4297.9765625,
                        "z": 372.56439208984375
                    },
                    "rotation": {
                        "roll": 8.133488881867379e-05,
                        "pitch": -0.2390497773885727,
                        "yaw": -0.354461669921875
                    }
                },
                "velocity": {
                    "x": 8.075161933898926,
                    "y": -0.04991697520017624,
                    "z": -0.032203659415245056
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.319562911987305,
                "transform": {
                    "location": {
                        "x": -85.74530792236328,
                        "y": 4298.22607421875,
                        "z": 372.7423095703125
                    },
                    "rotation": {
                        "roll": 0.0003787456080317497,
                        "pitch": -0.25622087717056274,
                        "yaw": -0.3389892280101776
                    }
                },
                "velocity": {
                    "x": 7.319363117218018,
                    "y": -0.044697146862745285,
                    "z": -0.03040194883942604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.5357255935668945,
                "transform": {
                    "location": {
                        "x": -60.35968780517578,
                        "y": 4294.6240234375,
                        "z": 372.6341247558594
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": 0.16337811946868896,
                        "yaw": 179.6611328125
                    }
                },
                "velocity": {
                    "x": -7.53552770614624,
                    "y": 0.04438425600528717,
                    "z": 0.03188303858041763
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.356029510498047,
                "transform": {
                    "location": {
                        "x": -78.75835418701172,
                        "y": 4294.73193359375,
                        "z": 372.71624755859375
                    },
                    "rotation": {
                        "roll": 0.0005044924328103662,
                        "pitch": 0.2101307511329651,
                        "yaw": 179.66502380371094
                    }
                },
                "velocity": {
                    "x": -8.355814933776855,
                    "y": 0.04893231391906738,
                    "z": 0.03452657535672188
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.99802827835083,
                "transform": {
                    "location": {
                        "x": -97.12749481201172,
                        "y": 4294.841796875,
                        "z": 372.79132080078125
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": 0.20082804560661316,
                        "yaw": 179.65850830078125
                    }
                },
                "velocity": {
                    "x": -7.997836589813232,
                    "y": 0.045854419469833374,
                    "z": 0.031105345115065575
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058661460876465,
                "transform": {
                    "location": {
                        "x": -116.05960845947266,
                        "y": 4294.95068359375,
                        "z": 372.8748474121094
                    },
                    "rotation": {
                        "roll": 6.40386642771773e-05,
                        "pitch": 0.22409166395664215,
                        "yaw": 179.64743041992188
                    }
                },
                "velocity": {
                    "x": -8.058442115783691,
                    "y": 0.04954603686928749,
                    "z": 0.03277081251144409
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39161860942840576,
        "expert_target_speed": 7.462213064452157,
        "target_point": [
            8.486005431584482,
            0.4668368719453423
        ],
        "target_point_next": [
            59.483624027122346,
            0.9578115637251479
        ]
    },
    "235": {
        "acceleration": [
            4.7739410400390625,
            -0.09952403604984283,
            -0.0971626341342926
        ],
        "angular_velocity": [
            0.00983892660588026,
            0.12941834330558777,
            0.11495599895715714
        ],
        "forward_vector": [
            -0.9998994469642639,
            0.012166743166744709,
            -0.007279450539499521
        ],
        "right_vector": [
            -0.012169969268143177,
            -0.9999258518218994,
            0.0003989308897871524
        ],
        "location": [
            -103.36890411376953,
            4292.12353515625,
            372.81854248046875
        ],
        "rotation": [
            -0.02285766415297985,
            -0.4170854687690735,
            179.3028564453125
        ],
        "velocity": [
            -4.845017910003662,
            0.05463842675089836,
            0.015403012745082378
        ],
        "speed": 4.845325985517802,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.791901111602783,
                "transform": {
                    "location": {
                        "x": -126.7562484741211,
                        "y": 4301.7138671875,
                        "z": 372.90936279296875
                    },
                    "rotation": {
                        "roll": 0.005592804402112961,
                        "pitch": -0.27524295449256897,
                        "yaw": -0.2830810844898224
                    }
                },
                "velocity": {
                    "x": 7.7917304039001465,
                    "y": -0.040559399873018265,
                    "z": -0.031895317137241364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.832715034484863,
                "transform": {
                    "location": {
                        "x": -125.69929504394531,
                        "y": 4298.45703125,
                        "z": 372.9435119628906
                    },
                    "rotation": {
                        "roll": 0.0004151996981818229,
                        "pitch": -0.24652200937271118,
                        "yaw": -0.2848510444164276
                    }
                },
                "velocity": {
                    "x": 7.832553386688232,
                    "y": -0.0405101515352726,
                    "z": -0.029785841703414917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075582504272461,
                "transform": {
                    "location": {
                        "x": -84.3515625,
                        "y": 4301.46630859375,
                        "z": 372.7326354980469
                    },
                    "rotation": {
                        "roll": 0.00026666856138035655,
                        "pitch": -0.2346511334180832,
                        "yaw": -0.3447265625
                    }
                },
                "velocity": {
                    "x": 8.075369834899902,
                    "y": -0.04852757975459099,
                    "z": -0.03283178433775902
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004480361938477,
                "transform": {
                    "location": {
                        "x": -40.96609115600586,
                        "y": 4301.2099609375,
                        "z": 372.56787109375
                    },
                    "rotation": {
                        "roll": 0.0005333845037966967,
                        "pitch": -0.23797744512557983,
                        "yaw": -0.3423156142234802
                    }
                },
                "velocity": {
                    "x": 8.004268646240234,
                    "y": -0.047767285257577896,
                    "z": -0.03327460214495659
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023566246032715,
                "transform": {
                    "location": {
                        "x": -41.625,
                        "y": 4297.96484375,
                        "z": 372.5559997558594
                    },
                    "rotation": {
                        "roll": 0.0004630965704564005,
                        "pitch": -0.23892682790756226,
                        "yaw": -0.3548583984375
                    }
                },
                "velocity": {
                    "x": 8.023344993591309,
                    "y": -0.049666550010442734,
                    "z": -0.03297654166817665
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.81842041015625,
                "transform": {
                    "location": {
                        "x": -84.01811981201172,
                        "y": 4298.2158203125,
                        "z": 372.7352600097656
                    },
                    "rotation": {
                        "roll": -0.0006103516789153218,
                        "pitch": -0.2578396201133728,
                        "yaw": -0.3211975395679474
                    }
                },
                "velocity": {
                    "x": 6.81823205947876,
                    "y": -0.041699815541505814,
                    "z": -0.0287915226072073
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.600011348724365,
                "transform": {
                    "location": {
                        "x": -62.21851348876953,
                        "y": 4294.6357421875,
                        "z": 372.6415100097656
                    },
                    "rotation": {
                        "roll": 0.0009731026366353035,
                        "pitch": 0.2185865342617035,
                        "yaw": 179.66217041015625
                    }
                },
                "velocity": {
                    "x": -7.599818706512451,
                    "y": 0.04477604106068611,
                    "z": 0.03034999780356884
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.387112617492676,
                "transform": {
                    "location": {
                        "x": -80.8828125,
                        "y": 4294.744140625,
                        "z": 372.7247619628906
                    },
                    "rotation": {
                        "roll": 0.000970170833170414,
                        "pitch": 0.28186139464378357,
                        "yaw": 179.66514587402344
                    }
                },
                "velocity": {
                    "x": -8.386900901794434,
                    "y": 0.04903572052717209,
                    "z": 0.03386569023132324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.934464454650879,
                "transform": {
                    "location": {
                        "x": -99.22476196289062,
                        "y": 4294.85400390625,
                        "z": 372.79876708984375
                    },
                    "rotation": {
                        "roll": 0.0015298612415790558,
                        "pitch": 0.45788219571113586,
                        "yaw": 179.63787841796875
                    }
                },
                "velocity": {
                    "x": -8.934231758117676,
                    "y": 0.05377655848860741,
                    "z": 0.03565032780170441
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999058246612549,
                "transform": {
                    "location": {
                        "x": -118.0667953491211,
                        "y": 4294.962890625,
                        "z": 372.88275146484375
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": 0.22522547841072083,
                        "yaw": 179.64427185058594
                    }
                },
                "velocity": {
                    "x": -7.998834133148193,
                    "y": 0.04987882450222969,
                    "z": 0.033117473125457764
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39580169320106506,
        "expert_target_speed": 5.924255288237373,
        "target_point": [
            58.10154101333824,
            0.7596925796993536
        ],
        "target_point_next": [
            62.45134165457031,
            0.7867382416980596
        ]
    },
    "240": {
        "acceleration": [
            4.211702346801758,
            -0.056685879826545715,
            -0.01919003203511238
        ],
        "angular_velocity": [
            0.09814606606960297,
            0.44804924726486206,
            0.6387192606925964
        ],
        "forward_vector": [
            -0.9999175071716309,
            0.011164120398461819,
            -0.006345825269818306
        ],
        "right_vector": [
            -0.011165960691869259,
            -0.9999375939369202,
            0.0002545930619817227
        ],
        "location": [
            -104.40570068359375,
            4292.13427734375,
            372.8222961425781
        ],
        "rotation": [
            -0.01458740234375,
            -0.36359143257141113,
            179.36032104492188
        ],
        "velocity": [
            -3.5919744968414307,
            0.034369613975286484,
            0.015594138763844967
        ],
        "speed": 3.5921389249754885,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.11886215209961,
                "transform": {
                    "location": {
                        "x": -124.77687072753906,
                        "y": 4301.70263671875,
                        "z": 372.9012145996094
                    },
                    "rotation": {
                        "roll": 0.0036467029713094234,
                        "pitch": -0.18035796284675598,
                        "yaw": -0.3257445991039276
                    }
                },
                "velocity": {
                    "x": 8.118669509887695,
                    "y": -0.04595349729061127,
                    "z": -0.03167889639735222
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.205519676208496,
                "transform": {
                    "location": {
                        "x": -123.6809310913086,
                        "y": 4298.4462890625,
                        "z": 372.9352722167969
                    },
                    "rotation": {
                        "roll": 0.00044430207344703376,
                        "pitch": -0.19955763220787048,
                        "yaw": -0.3284912109375
                    }
                },
                "velocity": {
                    "x": 8.205323219299316,
                    "y": -0.04693520814180374,
                    "z": -0.031889013946056366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023999214172363,
                "transform": {
                    "location": {
                        "x": -82.33914184570312,
                        "y": 4301.4541015625,
                        "z": 372.7243957519531
                    },
                    "rotation": {
                        "roll": 0.0006919100414961576,
                        "pitch": -0.235129252076149,
                        "yaw": -0.3445129692554474
                    }
                },
                "velocity": {
                    "x": 8.023785591125488,
                    "y": -0.04822717234492302,
                    "z": -0.03309943526983261
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064830780029297,
                "transform": {
                    "location": {
                        "x": -38.95734405517578,
                        "y": 4301.1982421875,
                        "z": 372.5594787597656
                    },
                    "rotation": {
                        "roll": -3.051756721106358e-05,
                        "pitch": -0.23950056731700897,
                        "yaw": -0.3456115424633026
                    }
                },
                "velocity": {
                    "x": 8.064615249633789,
                    "y": -0.04863832890987396,
                    "z": -0.03339358791708946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076177597045898,
                "transform": {
                    "location": {
                        "x": -39.61211013793945,
                        "y": 4297.95263671875,
                        "z": 372.547607421875
                    },
                    "rotation": {
                        "roll": 0.0009750524768605828,
                        "pitch": -0.2392546832561493,
                        "yaw": -0.35989370942115784
                    }
                },
                "velocity": {
                    "x": 8.075948715209961,
                    "y": -0.050583310425281525,
                    "z": -0.033743008971214294
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -164.4375,
                        "y": 4298.5888671875,
                        "z": 373.43878173828125
                    },
                    "rotation": {
                        "roll": -5.211051035125536e-11,
                        "pitch": -0.19540487229824066,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.513381481170654,
                "transform": {
                    "location": {
                        "x": -82.23843383789062,
                        "y": 4298.20556640625,
                        "z": 372.72747802734375
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.2195700854063034,
                        "yaw": -0.3133239150047302
                    }
                },
                "velocity": {
                    "x": 7.513182163238525,
                    "y": -0.045725367963314056,
                    "z": -0.03013252653181553
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.585466384887695,
                "transform": {
                    "location": {
                        "x": -64.2378921508789,
                        "y": 4294.6474609375,
                        "z": 372.6492919921875
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.28554970026016235,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": -8.585247039794922,
                    "y": 0.050625432282686234,
                    "z": 0.03457488864660263
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.69556999206543,
                "transform": {
                    "location": {
                        "x": -82.99429321289062,
                        "y": 4294.755859375,
                        "z": 372.7333068847656
                    },
                    "rotation": {
                        "roll": 0.0008952401112765074,
                        "pitch": 0.3066481649875641,
                        "yaw": 179.6609649658203
                    }
                },
                "velocity": {
                    "x": -8.695348739624023,
                    "y": 0.05138787627220154,
                    "z": 0.03463418781757355
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.918188095092773,
                "transform": {
                    "location": {
                        "x": -101.61116790771484,
                        "y": 4294.8681640625,
                        "z": 372.8077697753906
                    },
                    "rotation": {
                        "roll": 0.0009334989008493721,
                        "pitch": 0.6407536864280701,
                        "yaw": 179.63832092285156
                    }
                },
                "velocity": {
                    "x": -9.917926788330078,
                    "y": 0.06044730544090271,
                    "z": 0.039147816598415375
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058253288269043,
                "transform": {
                    "location": {
                        "x": -120.07421875,
                        "y": 4294.97412109375,
                        "z": 372.8907470703125
                    },
                    "rotation": {
                        "roll": 0.00010829636448761448,
                        "pitch": 0.22452878952026367,
                        "yaw": 179.64352416992188
                    }
                },
                "velocity": {
                    "x": -8.05803108215332,
                    "y": 0.050107281655073166,
                    "z": 0.03282872214913368
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40444156527519226,
        "expert_target_speed": 4.7387949996722485,
        "target_point": [
            57.06542172809153,
            0.7005954264454486
        ],
        "target_point_next": [
            61.41524730335241,
            0.7232791453264384
        ]
    },
    "245": {
        "acceleration": [
            3.4525537490844727,
            -0.03804493695497513,
            -0.019395053386688232
        ],
        "angular_velocity": [
            -0.06502410769462585,
            0.39687034487724304,
            -0.6325925588607788
        ],
        "forward_vector": [
            -0.999937117099762,
            0.010358918458223343,
            -0.004304276313632727
        ],
        "right_vector": [
            -0.010359663516283035,
            -0.9999463558197021,
            0.0001507334818597883
        ],
        "location": [
            -105.1839828491211,
            4292.1416015625,
            372.8250732421875
        ],
        "rotation": [
            -0.00863647274672985,
            -0.2466176301240921,
            179.40646362304688
        ],
        "velocity": [
            -2.6810333728790283,
            0.022456256672739983,
            0.011619014665484428
        ],
        "speed": 2.6811274177022715,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.07016658782959,
                "transform": {
                    "location": {
                        "x": -122.73898315429688,
                        "y": 4301.69091796875,
                        "z": 372.8933410644531
                    },
                    "rotation": {
                        "roll": 0.0008881913381628692,
                        "pitch": -0.19949615001678467,
                        "yaw": -0.3060302734375
                    }
                },
                "velocity": {
                    "x": 8.069973945617676,
                    "y": -0.0448889285326004,
                    "z": -0.033109236508607864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.958539962768555,
                "transform": {
                    "location": {
                        "x": -121.65874481201172,
                        "y": 4298.43408203125,
                        "z": 372.9276428222656
                    },
                    "rotation": {
                        "roll": 0.0004929471178911626,
                        "pitch": -0.2381618469953537,
                        "yaw": -0.3072509467601776
                    }
                },
                "velocity": {
                    "x": 7.958350658416748,
                    "y": -0.04438427835702896,
                    "z": -0.032255399972200394
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075326919555664,
                "transform": {
                    "location": {
                        "x": -80.326171875,
                        "y": 4301.44287109375,
                        "z": 372.71612548828125
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.2364201545715332,
                        "yaw": -0.3441772162914276
                    }
                },
                "velocity": {
                    "x": 8.075113296508789,
                    "y": -0.04857562482357025,
                    "z": -0.03308366611599922
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005250930786133,
                "transform": {
                    "location": {
                        "x": -36.94913864135742,
                        "y": 4301.1865234375,
                        "z": 372.5511169433594
                    },
                    "rotation": {
                        "roll": 3.887851198669523e-05,
                        "pitch": -0.23873558640480042,
                        "yaw": -0.34600830078125
                    }
                },
                "velocity": {
                    "x": 8.005034446716309,
                    "y": -0.04827974736690521,
                    "z": -0.033642180263996124
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02311897277832,
                "transform": {
                    "location": {
                        "x": -37.59968566894531,
                        "y": 4297.9404296875,
                        "z": 372.5392150878906
                    },
                    "rotation": {
                        "roll": 0.0003779506660066545,
                        "pitch": -0.23975329101085663,
                        "yaw": -0.3554686903953552
                    }
                },
                "velocity": {
                    "x": 8.022893905639648,
                    "y": -0.0497840978205204,
                    "z": -0.03375222161412239
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4200775623321533,
                "transform": {
                    "location": {
                        "x": -164.43780517578125,
                        "y": 4298.5888671875,
                        "z": 373.040771484375
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": -0.19683921337127686,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": -0.004892776720225811,
                    "y": -4.510078360908665e-05,
                    "z": -1.4200692176818848
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -164.41827392578125,
                        "y": 4301.8388671875,
                        "z": 373.2476501464844
                    },
                    "rotation": {
                        "roll": -5.211051035125536e-11,
                        "pitch": -0.19540487229824066,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.515030860900879,
                "transform": {
                    "location": {
                        "x": -80.26851654052734,
                        "y": 4298.1943359375,
                        "z": 372.7193603515625
                    },
                    "rotation": {
                        "roll": 0.0002634678967297077,
                        "pitch": -0.20789045095443726,
                        "yaw": -0.3891601264476776
                    }
                },
                "velocity": {
                    "x": 8.514796257019043,
                    "y": -0.05270157754421234,
                    "z": -0.03491366654634476
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.778129577636719,
                "transform": {
                    "location": {
                        "x": -66.54601287841797,
                        "y": 4294.66064453125,
                        "z": 372.6585998535156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.3110399544239044,
                        "yaw": 179.66673278808594
                    }
                },
                "velocity": {
                    "x": -9.77788257598877,
                    "y": 0.05693160742521286,
                    "z": 0.039845094084739685
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.650041580200195,
                "transform": {
                    "location": {
                        "x": -85.24983978271484,
                        "y": 4294.76953125,
                        "z": 372.74176025390625
                    },
                    "rotation": {
                        "roll": 0.00014331509009934962,
                        "pitch": 0.5097643136978149,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -9.649792671203613,
                    "y": 0.057124435901641846,
                    "z": 0.0392686165869236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.253868103027344,
                "transform": {
                    "location": {
                        "x": -104.02397918701172,
                        "y": 4294.88232421875,
                        "z": 372.81890869140625
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": 0.24237607419490814,
                        "yaw": 179.6728973388672
                    }
                },
                "velocity": {
                    "x": -9.253629684448242,
                    "y": 0.05493199825286865,
                    "z": 0.03726344183087349
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9988250732421875,
                "transform": {
                    "location": {
                        "x": -122.0813217163086,
                        "y": 4294.986328125,
                        "z": 372.89862060546875
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 0.2242146134376526,
                        "yaw": 179.64349365234375
                    }
                },
                "velocity": {
                    "x": -7.998601913452148,
                    "y": 0.04977290704846382,
                    "z": 0.03305617347359657
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40571707487106323,
        "expert_target_speed": 3.8518664517869876,
        "target_point": [
            56.287651186889924,
            0.6538978730947735
        ],
        "target_point_next": [
            60.6374936203945,
            0.673078331348722
        ]
    },
    "250": {
        "acceleration": [
            2.8966331481933594,
            -0.025920849293470383,
            -0.006351657211780548
        ],
        "angular_velocity": [
            0.10102282464504242,
            0.2896687090396881,
            1.206634521484375
        ],
        "forward_vector": [
            -0.9999511241912842,
            0.009467572905123234,
            -0.0028554159216582775
        ],
        "right_vector": [
            -0.009467778727412224,
            -0.9999551773071289,
            5.8589288528310135e-05
        ],
        "location": [
            -105.75062561035156,
            4292.14599609375,
            372.8269958496094
        ],
        "rotation": [
            -0.0033569324295967817,
            -0.1636035144329071,
            179.45753479003906
        ],
        "velocity": [
            -1.9002442359924316,
            0.014464792795479298,
            0.009187736548483372
        ],
        "speed": 1.9002992887050913,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.945107460021973,
                "transform": {
                    "location": {
                        "x": -120.74788665771484,
                        "y": 4301.67919921875,
                        "z": 372.8856506347656
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.2645878493785858,
                        "yaw": -0.3333434760570526
                    }
                },
                "velocity": {
                    "x": 7.944913387298584,
                    "y": -0.044496774673461914,
                    "z": -0.03323061019182205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01379108428955,
                "transform": {
                    "location": {
                        "x": -119.67124938964844,
                        "y": 4298.4228515625,
                        "z": 372.919677734375
                    },
                    "rotation": {
                        "roll": 0.0006874277023598552,
                        "pitch": -0.22717207670211792,
                        "yaw": -0.3345946669578552
                    }
                },
                "velocity": {
                    "x": 8.013590812683105,
                    "y": -0.04673627391457558,
                    "z": -0.03212713822722435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024141311645508,
                "transform": {
                    "location": {
                        "x": -78.31375122070312,
                        "y": 4301.43115234375,
                        "z": 372.7077941894531
                    },
                    "rotation": {
                        "roll": 0.00020040058006998152,
                        "pitch": -0.2372739315032959,
                        "yaw": -0.3446654677391052
                    }
                },
                "velocity": {
                    "x": 8.02392578125,
                    "y": -0.0482751801609993,
                    "z": -0.03365334868431091
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -34.91093826293945,
                        "y": 4301.15771484375,
                        "z": 372.54205322265625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075450897216797,
                "transform": {
                    "location": {
                        "x": -35.586795806884766,
                        "y": 4297.92919921875,
                        "z": 372.53082275390625
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": -0.23978060483932495,
                        "yaw": -0.3532104790210724
                    }
                },
                "velocity": {
                    "x": 8.075234413146973,
                    "y": -0.048333801329135895,
                    "z": -0.034070614725351334
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.25322404503822327,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 373.0052185058594
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": -0.19848528504371643,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 0.0008774411398917437,
                    "y": 8.021861140150577e-05,
                    "z": 0.2532225251197815
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.10974012315273285,
                "transform": {
                    "location": {
                        "x": -164.41867065429688,
                        "y": 4301.8388671875,
                        "z": 373.0094909667969
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": -0.19988547265529633,
                        "yaw": -0.3382262885570526
                    }
                },
                "velocity": {
                    "x": 0.00040899135638028383,
                    "y": 0.00010043535439763218,
                    "z": 0.10973931849002838
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.442206382751465,
                "transform": {
                    "location": {
                        "x": -78.10929870605469,
                        "y": 4298.1806640625,
                        "z": 372.710693359375
                    },
                    "rotation": {
                        "roll": 0.0005871892208233476,
                        "pitch": -0.2285449504852295,
                        "yaw": -0.4141845405101776
                    }
                },
                "velocity": {
                    "x": 8.441959381103516,
                    "y": -0.053422264754772186,
                    "z": -0.03621375188231468
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.80129623413086,
                "transform": {
                    "location": {
                        "x": -68.9949951171875,
                        "y": 4294.67431640625,
                        "z": 372.6690673828125
                    },
                    "rotation": {
                        "roll": -6.103517080191523e-05,
                        "pitch": 0.25942423939704895,
                        "yaw": 179.66673278808594
                    }
                },
                "velocity": {
                    "x": -9.801046371459961,
                    "y": 0.05698012560606003,
                    "z": 0.04062332212924957
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.362048149108887,
                "transform": {
                    "location": {
                        "x": -87.81499481201172,
                        "y": 4294.78466796875,
                        "z": 372.75189208984375
                    },
                    "rotation": {
                        "roll": 0.0010519747156649828,
                        "pitch": 0.6168821454048157,
                        "yaw": 179.66006469726562
                    }
                },
                "velocity": {
                    "x": -10.361776351928711,
                    "y": 0.06269782036542892,
                    "z": 0.0411178395152092
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.506173133850098,
                "transform": {
                    "location": {
                        "x": -106.07101440429688,
                        "y": 4294.89453125,
                        "z": 372.8289489746094
                    },
                    "rotation": {
                        "roll": -0.0029296877328306437,
                        "pitch": -0.2532019317150116,
                        "yaw": 179.65370178222656
                    }
                },
                "velocity": {
                    "x": -7.505985736846924,
                    "y": 0.043835826218128204,
                    "z": 0.02987428568303585
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058629989624023,
                "transform": {
                    "location": {
                        "x": -124.08898162841797,
                        "y": 4294.998046875,
                        "z": 372.9065246582031
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": 0.22314226627349854,
                        "yaw": 179.6470184326172
                    }
                },
                "velocity": {
                    "x": -8.05841064453125,
                    "y": 0.04965346306562424,
                    "z": 0.03263070806860924
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4029659628868103,
        "expert_target_speed": 3.081198876733093,
        "target_point": [
            55.721552622107126,
            0.6027632516915513
        ],
        "target_point_next": [
            60.07141042196245,
            0.6180670856444606
        ]
    },
    "255": {
        "acceleration": [
            0.06767359375953674,
            -0.0010655096266418695,
            -0.0003171199932694435
        ],
        "angular_velocity": [
            -0.010397270321846008,
            1.644852638244629,
            -0.0006707248976454139
        ],
        "forward_vector": [
            -0.9999340772628784,
            0.008176359347999096,
            -0.008063347078859806
        ],
        "right_vector": [
            -0.008176571689546108,
            -0.999966561794281,
            -6.554764240718214e-06
        ],
        "location": [
            -105.88999938964844,
            4292.14794921875,
            372.8287658691406
        ],
        "rotation": [
            0.0003755725338123739,
            -0.4620007872581482,
            179.53150939941406
        ],
        "velocity": [
            0.005136667285114527,
            0.00021794361236970872,
            -0.0005090896156616509
        ],
        "speed": 0.005141288769962119,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.091124534606934,
                "transform": {
                    "location": {
                        "x": -118.73960876464844,
                        "y": 4301.66748046875,
                        "z": 372.87750244140625
                    },
                    "rotation": {
                        "roll": 0.00147520680911839,
                        "pitch": -0.20318445563316345,
                        "yaw": -0.3089904487133026
                    }
                },
                "velocity": {
                    "x": 8.09092903137207,
                    "y": -0.04559051990509033,
                    "z": -0.033072371035814285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.07979679107666,
                "transform": {
                    "location": {
                        "x": -117.65203094482422,
                        "y": 4298.41064453125,
                        "z": 372.91162109375
                    },
                    "rotation": {
                        "roll": -0.00012207026884425431,
                        "pitch": -0.22085414826869965,
                        "yaw": -0.3155516982078552
                    }
                },
                "velocity": {
                    "x": 8.079596519470215,
                    "y": -0.04611336067318916,
                    "z": -0.03329279646277428
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075315475463867,
                "transform": {
                    "location": {
                        "x": -76.30078125,
                        "y": 4301.41943359375,
                        "z": 372.69952392578125
                    },
                    "rotation": {
                        "roll": 0.0008886055438779294,
                        "pitch": -0.23681630194187164,
                        "yaw": -0.3489379584789276
                    }
                },
                "velocity": {
                    "x": 8.075094223022461,
                    "y": -0.04923604428768158,
                    "z": -0.033791251480579376
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -32.828514099121094,
                        "y": 4301.10302734375,
                        "z": 372.5319519042969
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -33.50437545776367,
                        "y": 4297.873046875,
                        "z": 372.5269775390625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06148431822657585,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 373.04437255859375
                    },
                    "rotation": {
                        "roll": 3.9014728827169165e-05,
                        "pitch": -0.19851261377334595,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": 0.00021845840092282742,
                    "y": -8.325321687152609e-05,
                    "z": 0.061483871191740036
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7963653206825256,
                "transform": {
                    "location": {
                        "x": -164.3828125,
                        "y": 4301.8388671875,
                        "z": 373.0410461425781
                    },
                    "rotation": {
                        "roll": -0.0024414060171693563,
                        "pitch": -0.10998652875423431,
                        "yaw": -0.3401183485984802
                    }
                },
                "velocity": {
                    "x": 0.792907178401947,
                    "y": 0.0016239234246313572,
                    "z": 0.0741165354847908
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.093964576721191,
                "transform": {
                    "location": {
                        "x": -76.048828125,
                        "y": 4298.1669921875,
                        "z": 372.70233154296875
                    },
                    "rotation": {
                        "roll": 0.0007481222273781896,
                        "pitch": -0.24752603471279144,
                        "yaw": -0.40618896484375
                    }
                },
                "velocity": {
                    "x": 8.09373664855957,
                    "y": -0.050855573266744614,
                    "z": -0.03317083418369293
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.89000129699707,
                "transform": {
                    "location": {
                        "x": -71.4820327758789,
                        "y": 4294.689453125,
                        "z": 372.679443359375
                    },
                    "rotation": {
                        "roll": 0.0011827080743387341,
                        "pitch": 0.24538135528564453,
                        "yaw": 179.65574645996094
                    }
                },
                "velocity": {
                    "x": -9.889737129211426,
                    "y": 0.05940158665180206,
                    "z": 0.041330430656671524
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.911653518676758,
                "transform": {
                    "location": {
                        "x": -90.25538635253906,
                        "y": 4294.7998046875,
                        "z": 372.76397705078125
                    },
                    "rotation": {
                        "roll": 0.0018908748170360923,
                        "pitch": 0.029793282970786095,
                        "yaw": 179.65431213378906
                    }
                },
                "velocity": {
                    "x": -8.911410331726074,
                    "y": 0.054850123822689056,
                    "z": 0.03653676062822342
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.511047840118408,
                "transform": {
                    "location": {
                        "x": -107.91851043701172,
                        "y": 4294.9052734375,
                        "z": 372.8354187011719
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.002042226493358612,
                        "yaw": 179.68301391601562
                    }
                },
                "velocity": {
                    "x": -7.510862827301025,
                    "y": 0.04365483298897743,
                    "z": 0.02948811464011669
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999084949493408,
                "transform": {
                    "location": {
                        "x": -126.09601593017578,
                        "y": 4295.009765625,
                        "z": 372.9143981933594
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": 0.2236681878566742,
                        "yaw": 179.6438751220703
                    }
                },
                "velocity": {
                    "x": -7.998861312866211,
                    "y": 0.04997536540031433,
                    "z": 0.03284051641821861
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.41240400075912476,
        "expert_target_speed": 1.192764020423996,
        "target_point": [
            55.58289941042371,
            0.5316244284573166
        ],
        "target_point_next": [
            59.932773345275315,
            0.5413113884757007
        ]
    },
    "260": {
        "acceleration": [
            -0.016318978741765022,
            -0.002428306732326746,
            -0.006436006631702185
        ],
        "angular_velocity": [
            0.04526890814304352,
            1.1996896266937256,
            0.00016031265840865672
        ],
        "forward_vector": [
            -0.9999663233757019,
            0.00817638449370861,
            -0.0006908177747391164
        ],
        "right_vector": [
            -0.008176382631063461,
            -0.999966561794281,
            -4.847828222409589e-06
        ],
        "location": [
            -105.89218139648438,
            4292.14794921875,
            372.82720947265625
        ],
        "rotation": [
            0.00027776017668657005,
            -0.039580944925546646,
            179.53152465820312
        ],
        "velocity": [
            0.0038464986719191074,
            -0.00014415958139579743,
            -0.00037907049409113824
        ],
        "speed": 0.003849199139819044,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011759757995605,
                "transform": {
                    "location": {
                        "x": -116.72492218017578,
                        "y": 4301.65625,
                        "z": 372.86962890625
                    },
                    "rotation": {
                        "roll": 0.0005571594228968024,
                        "pitch": -0.23516340553760529,
                        "yaw": -0.3365478813648224
                    }
                },
                "velocity": {
                    "x": 8.011566162109375,
                    "y": -0.04515144228935242,
                    "z": -0.0325777493417263
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.990119457244873,
                "transform": {
                    "location": {
                        "x": -115.64585876464844,
                        "y": 4298.3994140625,
                        "z": 372.90380859375
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.23297090828418732,
                        "yaw": -0.3418273329734802
                    }
                },
                "velocity": {
                    "x": 7.9899210929870605,
                    "y": -0.04597318544983864,
                    "z": -0.03246017545461655
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021883010864258,
                "transform": {
                    "location": {
                        "x": -74.28836059570312,
                        "y": 4301.40771484375,
                        "z": 372.6911926269531
                    },
                    "rotation": {
                        "roll": 0.0010005702497437596,
                        "pitch": -0.23659774661064148,
                        "yaw": -0.3490600287914276
                    }
                },
                "velocity": {
                    "x": 8.0216646194458,
                    "y": -0.04885886609554291,
                    "z": -0.03337349742650986
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -30.74593734741211,
                        "y": 4301.056640625,
                        "z": 372.5220947265625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -31.421953201293945,
                        "y": 4297.81591796875,
                        "z": 372.5231018066406
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.225529193878174,
                "transform": {
                    "location": {
                        "x": -164.12210083007812,
                        "y": 4298.58935546875,
                        "z": 373.0472717285156
                    },
                    "rotation": {
                        "roll": -0.002471923828125,
                        "pitch": -0.15555071830749512,
                        "yaw": -0.2494812160730362
                    }
                },
                "velocity": {
                    "x": 2.22548508644104,
                    "y": 0.010143278166651726,
                    "z": -0.009673499502241611
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9863789081573486,
                "transform": {
                    "location": {
                        "x": -164.00608825683594,
                        "y": 4301.83935546875,
                        "z": 373.04901123046875
                    },
                    "rotation": {
                        "roll": -0.004882812034338713,
                        "pitch": -0.025053132325410843,
                        "yaw": -0.195648193359375
                    }
                },
                "velocity": {
                    "x": 1.9863626956939697,
                    "y": 0.004789954982697964,
                    "z": 0.006456346251070499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.125665664672852,
                "transform": {
                    "location": {
                        "x": -74.09327697753906,
                        "y": 4298.15478515625,
                        "z": 372.6944580078125
                    },
                    "rotation": {
                        "roll": 0.0008720467449165881,
                        "pitch": -0.2638501822948456,
                        "yaw": -0.3505249321460724
                    }
                },
                "velocity": {
                    "x": 7.125463008880615,
                    "y": -0.045292939990758896,
                    "z": -0.028837237507104874
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.322052001953125,
                "transform": {
                    "location": {
                        "x": -73.76374816894531,
                        "y": 4294.703125,
                        "z": 372.689453125
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.16358302533626556,
                        "yaw": 179.65432739257812
                    }
                },
                "velocity": {
                    "x": -8.32182788848877,
                    "y": 0.05021118000149727,
                    "z": 0.03473984822630882
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.3823747634887695,
                "transform": {
                    "location": {
                        "x": -92.25101470947266,
                        "y": 4294.81201171875,
                        "z": 372.7734680175781
                    },
                    "rotation": {
                        "roll": 0.0009183394140563905,
                        "pitch": -0.33081337809562683,
                        "yaw": 179.65126037597656
                    }
                },
                "velocity": {
                    "x": -7.38217830657959,
                    "y": 0.04484326392412186,
                    "z": 0.029817266389727592
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.346470832824707,
                "transform": {
                    "location": {
                        "x": -109.91710662841797,
                        "y": 4294.9169921875,
                        "z": 372.84185791015625
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": 0.3959255516529083,
                        "yaw": 179.65782165527344
                    }
                },
                "velocity": {
                    "x": -8.346266746520996,
                    "y": 0.047825511544942856,
                    "z": 0.033503733575344086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058570861816406,
                "transform": {
                    "location": {
                        "x": -128.10374450683594,
                        "y": 4295.02197265625,
                        "z": 372.92230224609375
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.2225412130355835,
                        "yaw": 179.6431427001953
                    }
                },
                "velocity": {
                    "x": -8.058345794677734,
                    "y": 0.05019548162817955,
                    "z": 0.033217716962099075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4118329882621765,
        "expert_target_speed": 1.1914664335846812,
        "target_point": [
            55.580717476523255,
            0.5316065878812534
        ],
        "target_point_next": [
            59.93059141137487,
            0.5412935478996375
        ]
    },
    "265": {
        "acceleration": [
            -0.007563983090221882,
            -0.0005497763049788773,
            -0.0006061140447854996
        ],
        "angular_velocity": [
            -0.008010665886104107,
            0.4127209186553955,
            9.25198255572468e-05
        ],
        "forward_vector": [
            -0.9999633431434631,
            0.00817636027932167,
            0.00253963191062212
        ],
        "right_vector": [
            -0.008176417089998722,
            -0.999966561794281,
            -1.2076930943294428e-05
        ],
        "location": [
            -105.89398193359375,
            4292.14794921875,
            372.8265075683594
        ],
        "rotation": [
            0.0006919594015926123,
            0.14551034569740295,
            179.53152465820312
        ],
        "velocity": [
            0.0013439280446618795,
            3.789424954447895e-05,
            -0.00024395104264840484
        ],
        "speed": 0.0013444621836917697,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017806053161621,
                "transform": {
                    "location": {
                        "x": -114.72492218017578,
                        "y": 4301.64404296875,
                        "z": 372.86175537109375
                    },
                    "rotation": {
                        "roll": 0.0017119188560172915,
                        "pitch": -0.23497898876667023,
                        "yaw": -0.317230224609375
                    }
                },
                "velocity": {
                    "x": 8.017602920532227,
                    "y": -0.04648813232779503,
                    "z": -0.03302253782749176
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044243812561035,
                "transform": {
                    "location": {
                        "x": -113.642578125,
                        "y": 4298.38720703125,
                        "z": 372.89581298828125
                    },
                    "rotation": {
                        "roll": -0.00015258793428074569,
                        "pitch": -0.22457660734653473,
                        "yaw": -0.3164061903953552
                    }
                },
                "velocity": {
                    "x": 8.044044494628906,
                    "y": -0.04617331922054291,
                    "z": -0.032878536731004715
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076501846313477,
                "transform": {
                    "location": {
                        "x": -72.27562713623047,
                        "y": 4301.39599609375,
                        "z": 372.6829528808594
                    },
                    "rotation": {
                        "roll": 1.55229281517677e-05,
                        "pitch": -0.23586690425872803,
                        "yaw": -0.3490905463695526
                    }
                },
                "velocity": {
                    "x": 8.076286315917969,
                    "y": -0.049193255603313446,
                    "z": -0.032619934529066086
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -28.66273307800293,
                        "y": 4301.041015625,
                        "z": 372.5132751464844
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -29.338905334472656,
                        "y": 4297.79345703125,
                        "z": 372.5155334472656
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1599409580230713,
                "transform": {
                    "location": {
                        "x": -163.437255859375,
                        "y": 4298.59130859375,
                        "z": 373.04425048828125
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": -0.17077520489692688,
                        "yaw": -0.0696105808019638
                    }
                },
                "velocity": {
                    "x": 3.159864664077759,
                    "y": 0.016934644430875778,
                    "z": -0.013976783491671085
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3918275833129883,
                "transform": {
                    "location": {
                        "x": -163.34523010253906,
                        "y": 4301.841796875,
                        "z": 373.0482482910156
                    },
                    "rotation": {
                        "roll": -0.005401610862463713,
                        "pitch": 0.01049116998910904,
                        "yaw": -0.0351867638528347
                    }
                },
                "velocity": {
                    "x": 3.391791582107544,
                    "y": 0.011748220771551132,
                    "z": -0.010301084257662296
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.773998260498047,
                "transform": {
                    "location": {
                        "x": -72.39289093017578,
                        "y": 4298.14501953125,
                        "z": 372.6874084472656
                    },
                    "rotation": {
                        "roll": 0.0007473417790606618,
                        "pitch": -0.25533977150917053,
                        "yaw": -0.435791015625
                    }
                },
                "velocity": {
                    "x": 6.773806095123291,
                    "y": -0.04175999015569687,
                    "z": -0.02928275056183338
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.922467231750488,
                "transform": {
                    "location": {
                        "x": -75.64632415771484,
                        "y": 4294.71435546875,
                        "z": 372.6972961425781
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.14337249100208282,
                        "yaw": 179.65745544433594
                    }
                },
                "velocity": {
                    "x": -6.922281742095947,
                    "y": 0.04141458123922348,
                    "z": 0.029261616989970207
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.3824028968811035,
                "transform": {
                    "location": {
                        "x": -94.0667953491211,
                        "y": 4294.8232421875,
                        "z": 372.77972412109375
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.014493661001324654,
                        "yaw": 179.6539306640625
                    }
                },
                "velocity": {
                    "x": -7.382207870483398,
                    "y": 0.044618263840675354,
                    "z": 0.029749402776360512
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.956932067871094,
                "transform": {
                    "location": {
                        "x": -111.96304321289062,
                        "y": 4294.9287109375,
                        "z": 372.8505859375
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.2226778119802475,
                        "yaw": 179.6826629638672
                    }
                },
                "velocity": {
                    "x": -7.956731796264648,
                    "y": 0.04581073671579361,
                    "z": 0.03297547250986099
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998992919921875,
                "transform": {
                    "location": {
                        "x": -130.11093139648438,
                        "y": 4295.03369140625,
                        "z": 372.93011474609375
                    },
                    "rotation": {
                        "roll": -0.0010070798452943563,
                        "pitch": 0.22334717214107513,
                        "yaw": 179.641357421875
                    }
                },
                "velocity": {
                    "x": -7.998757839202881,
                    "y": 0.05169959366321564,
                    "z": 0.032981183379888535
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.410258948802948,
        "expert_target_speed": 1.1889670004471535,
        "target_point": [
            55.57891725307485,
            0.5315653641941207
        ],
        "target_point_next": [
            59.92879119254507,
            0.541250250030978
        ]
    },
    "270": {
        "acceleration": [
            0.005634068511426449,
            -0.0011823282111436129,
            -0.004234469495713711
        ],
        "angular_velocity": [
            0.015820758417248726,
            0.08452368527650833,
            -2.9291211376403226e-06
        ],
        "forward_vector": [
            -0.9999604225158691,
            0.008176097646355629,
            0.0035010501742362976
        ],
        "right_vector": [
            -0.008176183328032494,
            -0.999966561794281,
            -1.0068109077110421e-05
        ],
        "location": [
            -105.89444732666016,
            4292.14794921875,
            372.8263244628906
        ],
        "rotation": [
            0.0005768637056462467,
            0.20059581100940704,
            179.5315399169922
        ],
        "velocity": [
            0.00028170342557132244,
            -5.911640982958488e-05,
            -0.00021172348351683468
        ],
        "speed": 0.0002878394863283303,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.049455642700195,
                "transform": {
                    "location": {
                        "x": -112.71382904052734,
                        "y": 4301.6328125,
                        "z": 372.8537292480469
                    },
                    "rotation": {
                        "roll": -3.0517576306010596e-05,
                        "pitch": -0.2201574742794037,
                        "yaw": -0.3446654975414276
                    }
                },
                "velocity": {
                    "x": 8.049254417419434,
                    "y": -0.04650126025080681,
                    "z": -0.032857950776815414
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03703784942627,
                "transform": {
                    "location": {
                        "x": -111.63023376464844,
                        "y": 4298.3759765625,
                        "z": 372.8878479003906
                    },
                    "rotation": {
                        "roll": 0.00012109724775655195,
                        "pitch": -0.22708328068256378,
                        "yaw": -0.3499450385570526
                    }
                },
                "velocity": {
                    "x": 8.036819458007812,
                    "y": -0.049519799649715424,
                    "z": -0.032538317143917084
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022761344909668,
                "transform": {
                    "location": {
                        "x": -70.26319885253906,
                        "y": 4301.3837890625,
                        "z": 372.6746520996094
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.2366933673620224,
                        "yaw": -0.3567809760570526
                    }
                },
                "velocity": {
                    "x": 8.022534370422363,
                    "y": -0.04997638612985611,
                    "z": -0.03385290876030922
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -26.579530715942383,
                        "y": 4301.025390625,
                        "z": 372.5045166015625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -27.25570297241211,
                        "y": 4297.77880859375,
                        "z": 372.50701904296875
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9259297847747803,
                "transform": {
                    "location": {
                        "x": -162.546630859375,
                        "y": 4298.5947265625,
                        "z": 373.041015625
                    },
                    "rotation": {
                        "roll": -0.0016174317570403218,
                        "pitch": -0.17877335846424103,
                        "yaw": 0.09154270589351654
                    }
                },
                "velocity": {
                    "x": 3.9258406162261963,
                    "y": 0.02259199321269989,
                    "z": -0.013779125176370144
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.885533809661865,
                "transform": {
                    "location": {
                        "x": -162.2957763671875,
                        "y": 4301.8466796875,
                        "z": 373.04486083984375
                    },
                    "rotation": {
                        "roll": -0.005737303756177425,
                        "pitch": 0.034615397453308105,
                        "yaw": 0.13690616190433502
                    }
                },
                "velocity": {
                    "x": 4.8854546546936035,
                    "y": 0.022382104769349098,
                    "z": -0.016590595245361328
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.533963203430176,
                "transform": {
                    "location": {
                        "x": -70.61429595947266,
                        "y": 4298.1337890625,
                        "z": 372.67962646484375
                    },
                    "rotation": {
                        "roll": 0.00015351135516539216,
                        "pitch": -0.21771226823329926,
                        "yaw": -0.3882751166820526
                    }
                },
                "velocity": {
                    "x": 7.5337653160095215,
                    "y": -0.045503146946430206,
                    "z": -0.030215654522180557
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.74214506149292,
                "transform": {
                    "location": {
                        "x": -77.32195281982422,
                        "y": 4294.72412109375,
                        "z": 372.7037658691406
                    },
                    "rotation": {
                        "roll": 0.0006634052260778844,
                        "pitch": 0.20651759207248688,
                        "yaw": 179.6573486328125
                    }
                },
                "velocity": {
                    "x": -6.741965293884277,
                    "y": 0.04031338542699814,
                    "z": 0.028206367045640945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.868209362030029,
                "transform": {
                    "location": {
                        "x": -96.0062484741211,
                        "y": 4294.83544921875,
                        "z": 372.78631591796875
                    },
                    "rotation": {
                        "roll": -0.0018920894945040345,
                        "pitch": 0.3028300702571869,
                        "yaw": 179.65789794921875
                    }
                },
                "velocity": {
                    "x": -7.868003845214844,
                    "y": 0.047065556049346924,
                    "z": 0.03199436888098717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.943933486938477,
                "transform": {
                    "location": {
                        "x": -113.93062591552734,
                        "y": 4294.9404296875,
                        "z": 372.8585205078125
                    },
                    "rotation": {
                        "roll": 0.0016772255767136812,
                        "pitch": 0.19626547396183014,
                        "yaw": 179.65406799316406
                    }
                },
                "velocity": {
                    "x": -7.943727016448975,
                    "y": 0.04711884260177612,
                    "z": 0.03265029937028885
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058516502380371,
                "transform": {
                    "location": {
                        "x": -132.11851501464844,
                        "y": 4295.04541015625,
                        "z": 372.93798828125
                    },
                    "rotation": {
                        "roll": 6.011123696225695e-05,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.6395721435547
                    }
                },
                "velocity": {
                    "x": -8.058292388916016,
                    "y": 0.05067133903503418,
                    "z": 0.03216705098748207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4121248126029968,
        "expert_target_speed": 1.1879586999756329,
        "target_point": [
            55.5784518755628,
            0.5315615592581984
        ],
        "target_point_next": [
            59.92832581503302,
            0.5412464450950557
        ]
    },
    "275": {
        "acceleration": [
            -0.11105313897132874,
            0.003612344153225422,
            0.0043045044876635075
        ],
        "angular_velocity": [
            0.01873602904379368,
            0.051681239157915115,
            -0.008270636200904846
        ],
        "forward_vector": [
            -0.9999579191207886,
            0.008249512873589993,
            0.004009474068880081
        ],
        "right_vector": [
            -0.008249493315815926,
            -0.9999659657478333,
            2.1305113477865234e-05
        ],
        "location": [
            -105.8992919921875,
            4292.14794921875,
            372.8262023925781
        ],
        "rotation": [
            -0.0012207028921693563,
            0.22972656786441803,
            179.52732849121094
        ],
        "velocity": [
            -0.03497645631432533,
            0.00024362077238038182,
            0.00021468162594828755
        ],
        "speed": 0.034977304747345006,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016409873962402,
                "transform": {
                    "location": {
                        "x": -110.70640563964844,
                        "y": 4301.62060546875,
                        "z": 372.84576416015625
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.2355663776397705,
                        "yaw": -0.319732666015625
                    }
                },
                "velocity": {
                    "x": 8.016210556030273,
                    "y": -0.04569172114133835,
                    "z": -0.03335754945874214
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016169548034668,
                "transform": {
                    "location": {
                        "x": -109.62515258789062,
                        "y": 4298.3642578125,
                        "z": 372.8798828125
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": -0.2314750999212265,
                        "yaw": -0.321990966796875
                    }
                },
                "velocity": {
                    "x": 8.015974998474121,
                    "y": -0.04541504383087158,
                    "z": -0.03258676826953888
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076773643493652,
                "transform": {
                    "location": {
                        "x": -68.25031280517578,
                        "y": 4301.3720703125,
                        "z": 372.6663513183594
                    },
                    "rotation": {
                        "roll": 7.279961664607981e-06,
                        "pitch": -0.23566199839115143,
                        "yaw": -0.3539733588695526
                    }
                },
                "velocity": {
                    "x": 8.07654857635498,
                    "y": -0.049870479851961136,
                    "z": -0.03383147343993187
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.6819939613342285,
                "transform": {
                    "location": {
                        "x": -161.46734619140625,
                        "y": 4298.6005859375,
                        "z": 373.03729248046875
                    },
                    "rotation": {
                        "roll": -0.0027770993765443563,
                        "pitch": -0.17990034818649292,
                        "yaw": 0.21415603160858154
                    }
                },
                "velocity": {
                    "x": 4.681880950927734,
                    "y": 0.028896067291498184,
                    "z": -0.014852828346192837
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.511642932891846,
                "transform": {
                    "location": {
                        "x": -160.96788024902344,
                        "y": 4301.853515625,
                        "z": 373.0403747558594
                    },
                    "rotation": {
                        "roll": -0.004882811568677425,
                        "pitch": -0.07501596212387085,
                        "yaw": 0.24606123566627502
                    }
                },
                "velocity": {
                    "x": 5.511528968811035,
                    "y": 0.030146155506372452,
                    "z": -0.0186240766197443
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.612754821777344,
                "transform": {
                    "location": {
                        "x": -68.6371078491211,
                        "y": 4298.12158203125,
                        "z": 372.67138671875
                    },
                    "rotation": {
                        "roll": -3.0517543564201333e-05,
                        "pitch": -0.203068345785141,
                        "yaw": -0.4037170112133026
                    }
                },
                "velocity": {
                    "x": 8.612526893615723,
                    "y": -0.05189921334385872,
                    "z": -0.03510211035609245
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.837288856506348,
                "transform": {
                    "location": {
                        "x": -79.13835906982422,
                        "y": 4294.7353515625,
                        "z": 372.7107238769531
                    },
                    "rotation": {
                        "roll": 0.00025419637677259743,
                        "pitch": 0.28330257534980774,
                        "yaw": 179.6551513671875
                    }
                },
                "velocity": {
                    "x": -7.837084770202637,
                    "y": 0.046832162886857986,
                    "z": 0.03165346011519432
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.116247177124023,
                "transform": {
                    "location": {
                        "x": -97.97984313964844,
                        "y": 4294.8466796875,
                        "z": 372.7942810058594
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.32218000292778015,
                        "yaw": 179.65809631347656
                    }
                },
                "velocity": {
                    "x": -8.116034507751465,
                    "y": 0.04841338470578194,
                    "z": 0.033278949558734894
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.138025283813477,
                "transform": {
                    "location": {
                        "x": -115.95523071289062,
                        "y": 4294.9521484375,
                        "z": 372.8662414550781
                    },
                    "rotation": {
                        "roll": 0.0007775984704494476,
                        "pitch": 0.28459346294403076,
                        "yaw": 179.67935180664062
                    }
                },
                "velocity": {
                    "x": -8.1378173828125,
                    "y": 0.047629937529563904,
                    "z": 0.03340195491909981
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999072074890137,
                "transform": {
                    "location": {
                        "x": -134.12562561035156,
                        "y": 4295.0576171875,
                        "z": 372.94580078125
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": 0.22077901661396027,
                        "yaw": 179.64309692382812
                    }
                },
                "velocity": {
                    "x": -7.998856067657471,
                    "y": 0.0498078428208828,
                    "z": 0.0313115119934082
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4122219681739807,
        "expert_target_speed": 1.2225515402839795,
        "target_point": [
            55.57356819090627,
            0.5356028814578427
        ],
        "target_point_next": [
            59.9234414074589,
            0.5456071912235878
        ]
    },
    "280": {
        "acceleration": [
            0.2293693721294403,
            0.006614649668335915,
            0.0002552021760493517
        ],
        "angular_velocity": [
            -0.022653238847851753,
            -0.03743917867541313,
            0.012116345576941967
        ],
        "forward_vector": [
            -0.999957799911499,
            0.008253326639533043,
            0.004039991647005081
        ],
        "right_vector": [
            -0.00825344305485487,
            -0.9999659657478333,
            -1.2234314453962725e-05
        ],
        "location": [
            -105.90577697753906,
            4292.14794921875,
            372.8262023925781
        ],
        "rotation": [
            0.0007009803084656596,
            0.2314750999212265,
            179.52711486816406
        ],
        "velocity": [
            -0.017480099573731422,
            0.0004332589160185307,
            0.0007969283615238965
        ],
        "speed": 0.017485468091986416,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032510757446289,
                "transform": {
                    "location": {
                        "x": -108.70101165771484,
                        "y": 4301.609375,
                        "z": 372.8377685546875
                    },
                    "rotation": {
                        "roll": 0.0003118374734185636,
                        "pitch": -0.23071694374084473,
                        "yaw": -0.3462218642234802
                    }
                },
                "velocity": {
                    "x": 8.032306671142578,
                    "y": -0.04659457132220268,
                    "z": -0.03330116346478462
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.039691925048828,
                "transform": {
                    "location": {
                        "x": -107.61781311035156,
                        "y": 4298.3525390625,
                        "z": 372.8718566894531
                    },
                    "rotation": {
                        "roll": 0.0006104919593781233,
                        "pitch": -0.22817611694335938,
                        "yaw": -0.345458984375
                    }
                },
                "velocity": {
                    "x": 8.039491653442383,
                    "y": -0.04671018198132515,
                    "z": -0.03236464038491249
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022871017456055,
                "transform": {
                    "location": {
                        "x": -66.2378921508789,
                        "y": 4301.3603515625,
                        "z": 372.6580505371094
                    },
                    "rotation": {
                        "roll": 0.00024171313270926476,
                        "pitch": -0.23705536127090454,
                        "yaw": -0.35406494140625
                    }
                },
                "velocity": {
                    "x": 8.022648811340332,
                    "y": -0.049562714993953705,
                    "z": -0.03329682722687721
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2077507972717285,
                "transform": {
                    "location": {
                        "x": -160.20632934570312,
                        "y": 4298.60693359375,
                        "z": 373.0333557128906
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.18341106176376343,
                        "yaw": 0.24985577166080475
                    }
                },
                "velocity": {
                    "x": 5.20770263671875,
                    "y": 0.013349571265280247,
                    "z": -0.017935046926140785
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.940550804138184,
                "transform": {
                    "location": {
                        "x": -159.49163818359375,
                        "y": 4301.8583984375,
                        "z": 373.0354309082031
                    },
                    "rotation": {
                        "roll": 0.005184602458029985,
                        "pitch": 0.023830529302358627,
                        "yaw": 0.1712757796049118
                    }
                },
                "velocity": {
                    "x": 6.940501689910889,
                    "y": 0.010420102626085281,
                    "z": -0.02403775230050087
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.440680503845215,
                "transform": {
                    "location": {
                        "x": -66.4692153930664,
                        "y": 4298.1083984375,
                        "z": 372.6628112792969
                    },
                    "rotation": {
                        "roll": 0.0002691159024834633,
                        "pitch": -0.23034128546714783,
                        "yaw": -0.3812255859375
                    }
                },
                "velocity": {
                    "x": 8.440454483032227,
                    "y": -0.049923770129680634,
                    "z": -0.03637513145804405
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.995402336120605,
                "transform": {
                    "location": {
                        "x": -81.24788665771484,
                        "y": 4294.74755859375,
                        "z": 372.71917724609375
                    },
                    "rotation": {
                        "roll": 0.0006637514452449977,
                        "pitch": 0.31252211332321167,
                        "yaw": 179.65640258789062
                    }
                },
                "velocity": {
                    "x": -8.995165824890137,
                    "y": 0.053654953837394714,
                    "z": 0.03716428577899933
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.311019897460938,
                "transform": {
                    "location": {
                        "x": -100.08218383789062,
                        "y": 4294.85888671875,
                        "z": 372.8026428222656
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.35529959201812744,
                        "yaw": 179.66310119628906
                    }
                },
                "velocity": {
                    "x": -8.310816764831543,
                    "y": 0.04775719717144966,
                    "z": 0.03320974111557007
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.954082489013672,
                "transform": {
                    "location": {
                        "x": -117.96343231201172,
                        "y": 4294.9638671875,
                        "z": 372.87445068359375
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": 0.20352596044540405,
                        "yaw": 179.6558837890625
                    }
                },
                "velocity": {
                    "x": -7.953881740570068,
                    "y": 0.04594342038035393,
                    "z": 0.03283051401376724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058602333068848,
                "transform": {
                    "location": {
                        "x": -136.13311767578125,
                        "y": 4295.0693359375,
                        "z": 372.95361328125
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": 0.21860019862651825,
                        "yaw": 179.64309692382812
                    }
                },
                "velocity": {
                    "x": -8.058389663696289,
                    "y": 0.05023016035556793,
                    "z": 0.030001848936080933
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.41182392835617065,
        "expert_target_speed": 1.2050913781071757,
        "target_point": [
            55.56708138284353,
            0.5357613572608652
        ],
        "target_point_next": [
            59.9169545612011,
            0.5457822604760024
        ]
    },
    "285": {
        "acceleration": [
            -0.2010059356689453,
            -0.005344846285879612,
            0.003669166471809149
        ],
        "angular_velocity": [
            0.014829813502728939,
            0.049234241247177124,
            0.03517667576670647
        ],
        "forward_vector": [
            -0.999957799911499,
            0.008234013803303242,
            0.004074800759553909
        ],
        "right_vector": [
            -0.008234099484980106,
            -0.9999660849571228,
            -4.381374310469255e-06
        ],
        "location": [
            -105.91242218017578,
            4292.14794921875,
            372.8262023925781
        ],
        "rotation": [
            0.0002510363410692662,
            0.23346951603889465,
            179.52821350097656
        ],
        "velocity": [
            -0.030763668939471245,
            -0.00015650378190912306,
            0.0017970275366678834
        ],
        "speed": 0.03076406702715263,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032655715942383,
                "transform": {
                    "location": {
                        "x": -106.6917953491211,
                        "y": 4301.59716796875,
                        "z": 372.8298034667969
                    },
                    "rotation": {
                        "roll": 0.0007039600168354809,
                        "pitch": -0.22964461147785187,
                        "yaw": -0.3148803114891052
                    }
                },
                "velocity": {
                    "x": 8.032456398010254,
                    "y": -0.045947130769491196,
                    "z": -0.032968271523714066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028974533081055,
                "transform": {
                    "location": {
                        "x": -105.60906219482422,
                        "y": 4298.34033203125,
                        "z": 372.86376953125
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.23037543892860413,
                        "yaw": -0.3209228217601776
                    }
                },
                "velocity": {
                    "x": 8.028769493103027,
                    "y": -0.046910371631383896,
                    "z": -0.03323786333203316
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07463264465332,
                "transform": {
                    "location": {
                        "x": -64.2250747680664,
                        "y": 4301.3486328125,
                        "z": 372.6497497558594
                    },
                    "rotation": {
                        "roll": 0.00030148541554808617,
                        "pitch": -0.2360171675682068,
                        "yaw": -0.3531799018383026
                    }
                },
                "velocity": {
                    "x": 8.074410438537598,
                    "y": -0.04976305365562439,
                    "z": -0.033314745873212814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.204384803771973,
                "transform": {
                    "location": {
                        "x": -158.79600524902344,
                        "y": 4298.609375,
                        "z": 373.0283203125
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.17776931822299957,
                        "yaw": 0.13126948475837708
                    }
                },
                "velocity": {
                    "x": 6.204344749450684,
                    "y": 0.003042195923626423,
                    "z": -0.022151125594973564
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.250964164733887,
                "transform": {
                    "location": {
                        "x": -157.55889892578125,
                        "y": 4301.8603515625,
                        "z": 373.02862548828125
                    },
                    "rotation": {
                        "roll": 0.003119849134236574,
                        "pitch": 0.013154943473637104,
                        "yaw": 0.07261384278535843
                    }
                },
                "velocity": {
                    "x": 8.2509126663208,
                    "y": 0.004349440801888704,
                    "z": -0.029014162719249725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.087176322937012,
                "transform": {
                    "location": {
                        "x": -64.41023254394531,
                        "y": 4298.0966796875,
                        "z": 372.65435791015625
                    },
                    "rotation": {
                        "roll": 0.0004984387196600437,
                        "pitch": -0.24809977412223816,
                        "yaw": -0.362518310546875
                    }
                },
                "velocity": {
                    "x": 8.086962699890137,
                    "y": -0.04844483360648155,
                    "z": -0.03324870020151138
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.672595977783203,
                "transform": {
                    "location": {
                        "x": -83.5102310180664,
                        "y": 4294.76123046875,
                        "z": 372.7289733886719
                    },
                    "rotation": {
                        "roll": -0.0010375977726653218,
                        "pitch": 0.23562102019786835,
                        "yaw": 179.66305541992188
                    }
                },
                "velocity": {
                    "x": -8.672379493713379,
                    "y": 0.049389470368623734,
                    "z": 0.036282796412706375
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7056732177734375,
                "transform": {
                    "location": {
                        "x": -102.0551528930664,
                        "y": 4294.87060546875,
                        "z": 372.8115234375
                    },
                    "rotation": {
                        "roll": 0.00023859180510044098,
                        "pitch": 0.09711845219135284,
                        "yaw": 179.6610870361328
                    }
                },
                "velocity": {
                    "x": -7.705472469329834,
                    "y": 0.045704443007707596,
                    "z": 0.03167352452874184
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.041929244995117,
                "transform": {
                    "location": {
                        "x": -119.95913696289062,
                        "y": 4294.9755859375,
                        "z": 372.8822326660156
                    },
                    "rotation": {
                        "roll": 0.0008569018682464957,
                        "pitch": 0.2377520352602005,
                        "yaw": 179.67738342285156
                    }
                },
                "velocity": {
                    "x": -8.041723251342773,
                    "y": 0.04719967395067215,
                    "z": 0.03300585597753525
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.513273239135742,
                "transform": {
                    "location": {
                        "x": -138.09812927246094,
                        "y": 4295.0810546875,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 0.00036786874989047647,
                        "pitch": 0.258447527885437,
                        "yaw": 179.64456176757812
                    }
                },
                "velocity": {
                    "x": -7.513082027435303,
                    "y": 0.0451367162168026,
                    "z": 0.028923949226737022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.41267645359039307,
        "expert_target_speed": 1.2183934879132288,
        "target_point": [
            55.56044661420376,
            0.5346467831356421
        ],
        "target_point_next": [
            59.910319982903665,
            0.5445847191023651
        ]
    },
    "290": {
        "acceleration": [
            0.22765788435935974,
            0.0003941974136978388,
            -0.004852104466408491
        ],
        "angular_velocity": [
            0.001673770253546536,
            -0.05940544605255127,
            -0.0184963159263134
        ],
        "forward_vector": [
            -0.9999582171440125,
            0.008186331950128078,
            0.0040643103420734406
        ],
        "right_vector": [
            -0.008186380378901958,
            -0.9999665021896362,
            4.7936509872670285e-06
        ],
        "location": [
            -105.91913604736328,
            4292.14794921875,
            372.8262939453125
        ],
        "rotation": [
            -0.00027465823222883046,
            0.23286846280097961,
            179.53094482421875
        ],
        "velocity": [
            -0.019805030897259712,
            0.00017333930009044707,
            0.0013074111193418503
        ],
        "speed": 0.01980578944032193,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024553298950195,
                "transform": {
                    "location": {
                        "x": -104.68538665771484,
                        "y": 4301.5859375,
                        "z": 372.82177734375
                    },
                    "rotation": {
                        "roll": 0.0007275590323843062,
                        "pitch": -0.23333290219306946,
                        "yaw": -0.3418578505516052
                    }
                },
                "velocity": {
                    "x": 8.024353981018066,
                    "y": -0.04589215666055679,
                    "z": -0.03300975635647774
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027819633483887,
                "transform": {
                    "location": {
                        "x": -103.60296630859375,
                        "y": 4298.3291015625,
                        "z": 372.8558044433594
                    },
                    "rotation": {
                        "roll": 6.526058859890327e-05,
                        "pitch": -0.2297675460577011,
                        "yaw": -0.344451904296875
                    }
                },
                "velocity": {
                    "x": 8.027617454528809,
                    "y": -0.046388354152441025,
                    "z": -0.03319137543439865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025266647338867,
                "transform": {
                    "location": {
                        "x": -62.21281051635742,
                        "y": 4301.3369140625,
                        "z": 372.6414794921875
                    },
                    "rotation": {
                        "roll": 0.0006327517330646515,
                        "pitch": -0.23718513548374176,
                        "yaw": -0.353759765625
                    }
                },
                "velocity": {
                    "x": 8.02504825592041,
                    "y": -0.049493610858917236,
                    "z": -0.03256622701883316
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.9880690574646,
                "transform": {
                    "location": {
                        "x": -157.1844482421875,
                        "y": 4298.6103515625,
                        "z": 373.0226135253906
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.18121173977851868,
                        "yaw": 0.043238651007413864
                    }
                },
                "velocity": {
                    "x": 6.988026142120361,
                    "y": -8.81561209098436e-05,
                    "z": -0.024463962763547897
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.443949699401855,
                "transform": {
                    "location": {
                        "x": -155.34420776367188,
                        "y": 4301.8603515625,
                        "z": 373.0207824707031
                    },
                    "rotation": {
                        "roll": 0.0029233533423393965,
                        "pitch": -0.01040920801460743,
                        "yaw": -0.007202147971838713
                    }
                },
                "velocity": {
                    "x": 9.443888664245605,
                    "y": -0.0016239223768934608,
                    "z": -0.03390836343169212
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.0451178550720215,
                "transform": {
                    "location": {
                        "x": -62.47241973876953,
                        "y": 4298.08447265625,
                        "z": 372.6466064453125
                    },
                    "rotation": {
                        "roll": 0.00037175550824031234,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.329742431640625
                    }
                },
                "velocity": {
                    "x": 7.044933795928955,
                    "y": -0.042029015719890594,
                    "z": -0.02876274101436138
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.397909641265869,
                "transform": {
                    "location": {
                        "x": -85.49124908447266,
                        "y": 4294.77294921875,
                        "z": 372.73760986328125
                    },
                    "rotation": {
                        "roll": 0.0005957167595624924,
                        "pitch": 0.1724690943956375,
                        "yaw": 179.6661834716797
                    }
                },
                "velocity": {
                    "x": -7.397721767425537,
                    "y": 0.04311458021402359,
                    "z": 0.03032679483294487
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.3967866897583,
                "transform": {
                    "location": {
                        "x": -104.0571060180664,
                        "y": 4294.88232421875,
                        "z": 372.81866455078125
                    },
                    "rotation": {
                        "roll": 1.7959587239602115e-06,
                        "pitch": 0.345225065946579,
                        "yaw": 179.6605682373047
                    }
                },
                "velocity": {
                    "x": -8.396571159362793,
                    "y": 0.04976366460323334,
                    "z": 0.03357093781232834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.045660018920898,
                "transform": {
                    "location": {
                        "x": -121.97492218017578,
                        "y": 4294.9873046875,
                        "z": 372.89013671875
                    },
                    "rotation": {
                        "roll": -0.00021362306142691523,
                        "pitch": 0.24215067923069,
                        "yaw": 179.650146484375
                    }
                },
                "velocity": {
                    "x": -8.045454978942871,
                    "y": 0.0471552312374115,
                    "z": 0.0328403003513813
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.395871162414551,
                "transform": {
                    "location": {
                        "x": -139.63772583007812,
                        "y": 4295.09033203125,
                        "z": 372.9656982421875
                    },
                    "rotation": {
                        "roll": -0.00018310529412701726,
                        "pitch": 0.38792741298675537,
                        "yaw": 179.67518615722656
                    }
                },
                "velocity": {
                    "x": -5.395729064941406,
                    "y": 0.032673753798007965,
                    "z": 0.021537961438298225
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3943530023097992,
        "expert_target_speed": 1.2073934007644274,
        "target_point": [
            55.55375840276353,
            0.5319424926738285
        ],
        "target_point_next": [
            59.90363224039589,
            0.5416730105037647
        ]
    },
    "295": {
        "acceleration": [
            -0.1847006380558014,
            0.0026537892408668995,
            0.009074782952666283
        ],
        "angular_velocity": [
            -0.00861406046897173,
            0.03376290202140808,
            -0.003708829637616873
        ],
        "forward_vector": [
            -0.9999582171440125,
            0.00818513985723257,
            0.004068482201546431
        ],
        "right_vector": [
            -0.008185245096683502,
            -0.9999665021896362,
            -9.097435395233333e-06
        ],
        "location": [
            -105.92507934570312,
            4292.14794921875,
            372.8263244628906
        ],
        "rotation": [
            0.0005212489631958306,
            0.23310750722885132,
            179.53102111816406
        ],
        "velocity": [
            -0.026865093037486076,
            0.0003283665282651782,
            0.0011914443457499146
        ],
        "speed": 0.02686709974094092,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03303050994873,
                "transform": {
                    "location": {
                        "x": -102.6781234741211,
                        "y": 4301.57373046875,
                        "z": 372.8137512207031
                    },
                    "rotation": {
                        "roll": 0.0012254196917638183,
                        "pitch": -0.23022517561912537,
                        "yaw": -0.3192443251609802
                    }
                },
                "velocity": {
                    "x": 8.032828330993652,
                    "y": -0.04670913517475128,
                    "z": -0.03277053311467171
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033777236938477,
                "transform": {
                    "location": {
                        "x": -101.59515380859375,
                        "y": 4298.3173828125,
                        "z": 372.84771728515625
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.23037543892860413,
                        "yaw": -0.3175353407859802
                    }
                },
                "velocity": {
                    "x": 8.033574104309082,
                    "y": -0.04643566906452179,
                    "z": -0.03309422731399536
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075456619262695,
                "transform": {
                    "location": {
                        "x": -60.1998405456543,
                        "y": 4301.32470703125,
                        "z": 372.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0012685370165854692,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.35711669921875
                    }
                },
                "velocity": {
                    "x": 8.075233459472656,
                    "y": -0.05032582953572273,
                    "z": -0.032847385853528976
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.935990333557129,
                "transform": {
                    "location": {
                        "x": -155.3095245361328,
                        "y": 4298.6103515625,
                        "z": 373.0159606933594
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.18313102424144745,
                        "yaw": -0.014770506881177425
                    }
                },
                "velocity": {
                    "x": 7.9359307289123535,
                    "y": -0.011128920130431652,
                    "z": -0.02871219627559185
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.698811531066895,
                "transform": {
                    "location": {
                        "x": -152.82077026367188,
                        "y": 4301.85498046875,
                        "z": 373.01165771484375
                    },
                    "rotation": {
                        "roll": 0.009673497639596462,
                        "pitch": -0.006044717039912939,
                        "yaw": -0.1400451511144638
                    }
                },
                "velocity": {
                    "x": 10.698701858520508,
                    "y": -0.029957134276628494,
                    "z": -0.03802456334233284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.892971992492676,
                "transform": {
                    "location": {
                        "x": -60.75921630859375,
                        "y": 4298.07568359375,
                        "z": 372.6393737792969
                    },
                    "rotation": {
                        "roll": 0.00022871223336551338,
                        "pitch": -0.25202029943466187,
                        "yaw": -0.3879699409008026
                    }
                },
                "velocity": {
                    "x": 6.892789840698242,
                    "y": -0.04092484712600708,
                    "z": -0.02899741567671299
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.704059600830078,
                "transform": {
                    "location": {
                        "x": -87.34944915771484,
                        "y": 4294.7841796875,
                        "z": 372.7447509765625
                    },
                    "rotation": {
                        "roll": 0.0014571257634088397,
                        "pitch": 0.23176880180835724,
                        "yaw": 179.66635131835938
                    }
                },
                "velocity": {
                    "x": -7.703867435455322,
                    "y": 0.044809479266405106,
                    "z": 0.03086870163679123
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.902868270874023,
                "transform": {
                    "location": {
                        "x": -106.11702728271484,
                        "y": 4294.89404296875,
                        "z": 372.8274230957031
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.1942369043827057,
                        "yaw": 179.66062927246094
                    }
                },
                "velocity": {
                    "x": -7.902663230895996,
                    "y": 0.04685565456748009,
                    "z": 0.03235327824950218
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.697768211364746,
                "transform": {
                    "location": {
                        "x": -123.95921325683594,
                        "y": 4294.9990234375,
                        "z": 372.8983154296875
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": 0.15199218690395355,
                        "yaw": 179.67933654785156
                    }
                },
                "velocity": {
                    "x": -7.697573661804199,
                    "y": 0.04497823119163513,
                    "z": 0.03122485987842083
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9802951216697693,
                "transform": {
                    "location": {
                        "x": -53.019920349121094,
                        "y": 4294.68017578125,
                        "z": 372.9606018066406
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.23751981556415558,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.028452521190047264,
                    "y": 0.00016816511924844235,
                    "z": -0.9798821210861206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3994123637676239,
        "expert_target_speed": 1.2144322991926169,
        "target_point": [
            55.547816064393935,
            0.5318143776375
        ],
        "target_point_next": [
            59.89768991594148,
            0.5415386729229882
        ]
    },
    "300": {
        "acceleration": [
            0.16308251023292542,
            -0.03006216511130333,
            -0.0005752569995820522
        ],
        "angular_velocity": [
            0.0010710522765293717,
            -0.03176480159163475,
            0.025110432878136635
        ],
        "forward_vector": [
            -0.9999579787254333,
            0.008215894922614098,
            0.004076230805367231
        ],
        "right_vector": [
            -0.008215965703129768,
            -0.9999662637710571,
            -7.174402867349272e-07
        ],
        "location": [
            -105.93062591552734,
            4292.14794921875,
            372.8263244628906
        ],
        "rotation": [
            4.110664303880185e-05,
            0.23355147242546082,
            179.5292510986328
        ],
        "velocity": [
            -0.02040315419435501,
            -0.0002758102200459689,
            0.001485853106714785
        ],
        "speed": 0.02040501831305496,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029065132141113,
                "transform": {
                    "location": {
                        "x": -100.6703109741211,
                        "y": 4301.5625,
                        "z": 372.80560302734375
                    },
                    "rotation": {
                        "roll": 0.0007378451991826296,
                        "pitch": -0.23355147242546082,
                        "yaw": -0.345001220703125
                    }
                },
                "velocity": {
                    "x": 8.028854370117188,
                    "y": -0.04752466455101967,
                    "z": -0.03355097770690918
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028053283691406,
                "transform": {
                    "location": {
                        "x": -99.58734130859375,
                        "y": 4298.3056640625,
                        "z": 372.8396911621094
                    },
                    "rotation": {
                        "roll": -3.051755265914835e-05,
                        "pitch": -0.23291626572608948,
                        "yaw": -0.3444213569164276
                    }
                },
                "velocity": {
                    "x": 8.027851104736328,
                    "y": -0.046416234225034714,
                    "z": -0.03309642896056175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023127555847168,
                "transform": {
                    "location": {
                        "x": -58.18741989135742,
                        "y": 4301.31298828125,
                        "z": 372.6247863769531
                    },
                    "rotation": {
                        "roll": 0.0020257888827472925,
                        "pitch": -0.23770423233509064,
                        "yaw": -0.3572082221508026
                    }
                },
                "velocity": {
                    "x": 8.022902488708496,
                    "y": -0.04990861937403679,
                    "z": -0.033584270626306534
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.695402145385742,
                "transform": {
                    "location": {
                        "x": -153.2264862060547,
                        "y": 4298.6064453125,
                        "z": 373.0084228515625
                    },
                    "rotation": {
                        "roll": 0.0017376479227095842,
                        "pitch": -0.18612948060035706,
                        "yaw": -0.1342468112707138
                    }
                },
                "velocity": {
                    "x": 8.69530963897705,
                    "y": -0.026358438655734062,
                    "z": -0.03034435771405697
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.636018753051758,
                "transform": {
                    "location": {
                        "x": -150.0714874267578,
                        "y": 4301.845703125,
                        "z": 373.001708984375
                    },
                    "rotation": {
                        "roll": 0.007666406687349081,
                        "pitch": -0.026453321799635887,
                        "yaw": -0.215972900390625
                    }
                },
                "velocity": {
                    "x": 11.63585090637207,
                    "y": -0.046836573630571365,
                    "z": -0.04142632707953453
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.719446182250977,
                "transform": {
                    "location": {
                        "x": -58.94023132324219,
                        "y": 4298.06396484375,
                        "z": 372.6314392089844
                    },
                    "rotation": {
                        "roll": -6.103513442212716e-05,
                        "pitch": -0.21536268293857574,
                        "yaw": -0.3576354682445526
                    }
                },
                "velocity": {
                    "x": 7.719245433807373,
                    "y": -0.04643794521689415,
                    "z": -0.030770057812333107
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.750894546508789,
                "transform": {
                    "location": {
                        "x": -89.4051513671875,
                        "y": 4294.7958984375,
                        "z": 372.7527160644531
                    },
                    "rotation": {
                        "roll": -9.155282896244898e-05,
                        "pitch": 0.29193592071533203,
                        "yaw": 179.66592407226562
                    }
                },
                "velocity": {
                    "x": -8.7506742477417,
                    "y": 0.05099917948246002,
                    "z": 0.03525000438094139
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.871909141540527,
                "transform": {
                    "location": {
                        "x": -108.05874633789062,
                        "y": 4294.90576171875,
                        "z": 372.8352966308594
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.16535204648971558,
                        "yaw": 179.66012573242188
                    }
                },
                "velocity": {
                    "x": -7.8717041015625,
                    "y": 0.04677746817469597,
                    "z": 0.03223313391208649
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7166619300842285,
                "transform": {
                    "location": {
                        "x": -125.85718536376953,
                        "y": 4295.0107421875,
                        "z": 372.90576171875
                    },
                    "rotation": {
                        "roll": -0.0016479488695040345,
                        "pitch": 0.17042003571987152,
                        "yaw": 179.65374755859375
                    }
                },
                "velocity": {
                    "x": -7.716475009918213,
                    "y": 0.044740717858076096,
                    "z": 0.029665565118193626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6081262826919556,
                "transform": {
                    "location": {
                        "x": -53.025390625,
                        "y": 4294.68017578125,
                        "z": 372.5567626953125
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": 0.23579861223697662,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0025175982154905796,
                    "y": 0.00022704798902850598,
                    "z": -0.6081210374832153
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.401665061712265,
        "expert_target_speed": 1.2080030584879338,
        "target_point": [
            55.54225317181107,
            0.5334904799532509
        ],
        "target_point_next": [
            59.892126719870404,
            0.5433495970306313
        ]
    },
    "305": {
        "acceleration": [
            -0.14564596116542816,
            0.04507947713136673,
            -0.004039956256747246
        ],
        "angular_velocity": [
            0.03139013424515724,
            0.024681556969881058,
            -0.08810383826494217
        ],
        "forward_vector": [
            -0.9999572038650513,
            0.008312689140439034,
            0.0040576341561973095
        ],
        "right_vector": [
            -0.008312802761793137,
            -0.9999654293060303,
            -1.1190025361429434e-05
        ],
        "location": [
            -105.93569946289062,
            4292.14794921875,
            372.82635498046875
        ],
        "rotation": [
            0.0006411465001292527,
            0.23248596489429474,
            179.52371215820312
        ],
        "velocity": [
            -0.023265618830919266,
            0.0017949034227058291,
            0.001466188346967101
        ],
        "speed": 0.02333475300667368,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02855110168457,
                "transform": {
                    "location": {
                        "x": -98.66273498535156,
                        "y": 4301.55029296875,
                        "z": 372.7975158691406
                    },
                    "rotation": {
                        "roll": 0.0007205214933492243,
                        "pitch": -0.23504045605659485,
                        "yaw": -0.324432373046875
                    }
                },
                "velocity": {
                    "x": 8.028343200683594,
                    "y": -0.04734092950820923,
                    "z": -0.03306712210178375
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029810905456543,
                "transform": {
                    "location": {
                        "x": -97.57952880859375,
                        "y": 4298.2939453125,
                        "z": 372.83154296875
                    },
                    "rotation": {
                        "roll": -0.0007019044132903218,
                        "pitch": -0.23235619068145752,
                        "yaw": -0.324554443359375
                    }
                },
                "velocity": {
                    "x": 8.029603958129883,
                    "y": -0.04737324267625809,
                    "z": -0.032807767391204834
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075345039367676,
                "transform": {
                    "location": {
                        "x": -56.17445373535156,
                        "y": 4301.30126953125,
                        "z": 372.6164855957031
                    },
                    "rotation": {
                        "roll": 0.000764226249884814,
                        "pitch": -0.23751981556415558,
                        "yaw": -0.35791015625
                    }
                },
                "velocity": {
                    "x": 8.075116157531738,
                    "y": -0.050465941429138184,
                    "z": -0.03386257588863373
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.52934455871582,
                "transform": {
                    "location": {
                        "x": -150.9445343017578,
                        "y": 4298.59912109375,
                        "z": 373.0002746582031
                    },
                    "rotation": {
                        "roll": 8.317500032717362e-05,
                        "pitch": -0.18627974390983582,
                        "yaw": -0.2021484225988388
                    }
                },
                "velocity": {
                    "x": 9.529220581054688,
                    "y": -0.03506626933813095,
                    "z": -0.03374645113945007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.735666275024414,
                "transform": {
                    "location": {
                        "x": -147.01194763183594,
                        "y": 4301.83154296875,
                        "z": 372.9905090332031
                    },
                    "rotation": {
                        "roll": 0.005495063029229641,
                        "pitch": -0.034854453057050705,
                        "yaw": -0.2790526747703552
                    }
                },
                "velocity": {
                    "x": 12.735427856445312,
                    "y": -0.06226663291454315,
                    "z": -0.04683402553200722
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.732854843139648,
                "transform": {
                    "location": {
                        "x": -56.91804504394531,
                        "y": 4298.05126953125,
                        "z": 372.62298583984375
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.3074645400047302
                    }
                },
                "velocity": {
                    "x": 8.73262882232666,
                    "y": -0.050630833953619,
                    "z": -0.03726034238934517
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.544328689575195,
                "transform": {
                    "location": {
                        "x": -91.69835662841797,
                        "y": 4294.80908203125,
                        "z": 372.7621154785156
                    },
                    "rotation": {
                        "roll": 5.2528073865687475e-05,
                        "pitch": 0.2897980809211731,
                        "yaw": 179.6661834716797
                    }
                },
                "velocity": {
                    "x": -9.544087409973145,
                    "y": 0.055640630424022675,
                    "z": 0.03881853073835373
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.138850212097168,
                "transform": {
                    "location": {
                        "x": -110.08851623535156,
                        "y": 4294.91748046875,
                        "z": 372.8429260253906
                    },
                    "rotation": {
                        "roll": 9.259782382287085e-05,
                        "pitch": 0.30677109956741333,
                        "yaw": 179.6604766845703
                    }
                },
                "velocity": {
                    "x": -8.138638496398926,
                    "y": 0.04825320094823837,
                    "z": 0.03351490944623947
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.312088966369629,
                "transform": {
                    "location": {
                        "x": -127.88578033447266,
                        "y": 4295.0224609375,
                        "z": 372.9127197265625
                    },
                    "rotation": {
                        "roll": 0.00012527375656645745,
                        "pitch": 0.39025649428367615,
                        "yaw": 179.67787170410156
                    }
                },
                "velocity": {
                    "x": -8.311881065368652,
                    "y": 0.048627011477947235,
                    "z": 0.03303001448512077
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2274703085422516,
                "transform": {
                    "location": {
                        "x": -53.025390625,
                        "y": 4294.68017578125,
                        "z": 372.5783996582031
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": 0.23586007952690125,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0009526878129690886,
                    "y": -3.691208257805556e-05,
                    "z": 0.2274683117866516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.401984304189682,
        "expert_target_speed": 1.2109224206446108,
        "target_point": [
            55.537128155673116,
            0.5387981968002051
        ],
        "target_point_next": [
            59.88700073391287,
            0.5490762984621247
        ]
    },
    "310": {
        "acceleration": [
            0.1727178692817688,
            -0.09265419840812683,
            -0.0005575176328420639
        ],
        "angular_velocity": [
            -0.12301215529441833,
            -0.024487219750881195,
            0.08167912065982819
        ],
        "forward_vector": [
            -0.9999569058418274,
            0.008368238806724548,
            0.0040267594158649445
        ],
        "right_vector": [
            -0.00836822111159563,
            -0.9999650120735168,
            2.130511165887583e-05
        ],
        "location": [
            -105.93898010253906,
            4292.14794921875,
            372.82635498046875
        ],
        "rotation": [
            -0.0012207028921693563,
            0.23071694374084473,
            179.52052307128906
        ],
        "velocity": [
            -0.007916625589132309,
            -0.0017421906813979149,
            0.001648321165703237
        ],
        "speed": 0.008106058788884658,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030586242675781,
                "transform": {
                    "location": {
                        "x": -96.65492248535156,
                        "y": 4301.5390625,
                        "z": 372.7893981933594
                    },
                    "rotation": {
                        "roll": 0.0026732853148132563,
                        "pitch": -0.23382468521595,
                        "yaw": -0.3582763671875
                    }
                },
                "velocity": {
                    "x": 8.030366897583008,
                    "y": -0.04947160184383392,
                    "z": -0.03277451545000076
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030765533447266,
                "transform": {
                    "location": {
                        "x": -95.57171630859375,
                        "y": 4298.2822265625,
                        "z": 372.82342529296875
                    },
                    "rotation": {
                        "roll": 0.0009220832143910229,
                        "pitch": -0.2326020747423172,
                        "yaw": -0.3537597358226776
                    }
                },
                "velocity": {
                    "x": 8.030546188354492,
                    "y": -0.049348752945661545,
                    "z": -0.03303718939423561
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02441120147705,
                "transform": {
                    "location": {
                        "x": -54.16218566894531,
                        "y": 4301.28857421875,
                        "z": 372.6081848144531
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": -0.23845554888248444,
                        "yaw": -0.3618469536304474
                    }
                },
                "velocity": {
                    "x": 8.024182319641113,
                    "y": -0.05070646107196808,
                    "z": -0.03313959017395973
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.345152854919434,
                "transform": {
                    "location": {
                        "x": -148.45741271972656,
                        "y": 4298.58935546875,
                        "z": 372.9912109375
                    },
                    "rotation": {
                        "roll": 0.001002371427603066,
                        "pitch": -0.19253619015216827,
                        "yaw": -0.2544555366039276
                    }
                },
                "velocity": {
                    "x": 10.344972610473633,
                    "y": -0.04855611175298691,
                    "z": -0.037019722163677216
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.505522727966309,
                "transform": {
                    "location": {
                        "x": -143.71499633789062,
                        "y": 4301.81494140625,
                        "z": 372.97808837890625
                    },
                    "rotation": {
                        "roll": 0.003987417556345463,
                        "pitch": -0.07583558559417725,
                        "yaw": -0.3053283393383026
                    }
                },
                "velocity": {
                    "x": 13.505236625671387,
                    "y": -0.07261627912521362,
                    "z": -0.049506936222314835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.349461555480957,
                "transform": {
                    "location": {
                        "x": -54.772342681884766,
                        "y": 4298.0390625,
                        "z": 372.6144714355469
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.23803891241550446,
                        "yaw": -0.25262451171875
                    }
                },
                "velocity": {
                    "x": 8.349249839782715,
                    "y": -0.04682512208819389,
                    "z": -0.03661658614873886
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.55490779876709,
                "transform": {
                    "location": {
                        "x": -93.99445343017578,
                        "y": 4294.8232421875,
                        "z": 372.7720642089844
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.20116272568702698,
                        "yaw": 179.6661834716797
                    }
                },
                "velocity": {
                    "x": -8.554689407348633,
                    "y": 0.049866970628499985,
                    "z": 0.035231951624155045
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7524824142456055,
                "transform": {
                    "location": {
                        "x": -112.07351684570312,
                        "y": 4294.92919921875,
                        "z": 372.851318359375
                    },
                    "rotation": {
                        "roll": -0.0013732912484556437,
                        "pitch": 0.15535947680473328,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": -7.7522873878479,
                    "y": 0.04460146278142929,
                    "z": 0.03216765448451042
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.898441314697266,
                "transform": {
                    "location": {
                        "x": -129.9121856689453,
                        "y": 4295.0341796875,
                        "z": 372.92144775390625
                    },
                    "rotation": {
                        "roll": 0.0019056539749726653,
                        "pitch": 0.19278891384601593,
                        "yaw": 179.64453125
                    }
                },
                "velocity": {
                    "x": -7.898227214813232,
                    "y": 0.04859188571572304,
                    "z": 0.03197154030203819
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.40275517106056213,
                "transform": {
                    "location": {
                        "x": -53.031951904296875,
                        "y": 4294.68017578125,
                        "z": 372.60784912109375
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": 0.2396986484527588,
                        "yaw": 179.6642608642578
                    }
                },
                "velocity": {
                    "x": -0.40098869800567627,
                    "y": -0.0016252673231065273,
                    "z": 0.037645261734724045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40035775303840637,
        "expert_target_speed": 1.1958257342185472,
        "target_point": [
            55.53381748493165,
            0.5418691573415052
        ],
        "target_point_next": [
            59.883689482987116,
            0.5523899381501175
        ]
    },
    "315": {
        "acceleration": [
            -0.21755538880825043,
            0.14655359089374542,
            -0.005513573065400124
        ],
        "angular_velocity": [
            0.1635270118713379,
            0.0410187803208828,
            -0.18388116359710693
        ],
        "forward_vector": [
            -0.9999558925628662,
            0.00849030539393425,
            0.004014004021883011
        ],
        "right_vector": [
            -0.00849053543061018,
            -0.9999639391899109,
            -4.0431375964544713e-05
        ],
        "location": [
            -105.94070434570312,
            4292.14794921875,
            372.8263854980469
        ],
        "rotation": [
            0.0023165657185018063,
            0.22998611629009247,
            179.51353454589844
        ],
        "velocity": [
            -0.007925406098365784,
            0.0038059859070926905,
            0.0007843112689442933
        ],
        "speed": 0.008791904830524597,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02914810180664,
                "transform": {
                    "location": {
                        "x": -94.64710998535156,
                        "y": 4301.52685546875,
                        "z": 372.78125
                    },
                    "rotation": {
                        "roll": 0.0005386830889619887,
                        "pitch": -0.23504045605659485,
                        "yaw": -0.3352356255054474
                    }
                },
                "velocity": {
                    "x": 8.028936386108398,
                    "y": -0.04787205904722214,
                    "z": -0.03337494656443596
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029635429382324,
                "transform": {
                    "location": {
                        "x": -93.56390380859375,
                        "y": 4298.2705078125,
                        "z": 372.8152770996094
                    },
                    "rotation": {
                        "roll": -0.00045776349725201726,
                        "pitch": -0.23257476091384888,
                        "yaw": -0.330322265625
                    }
                },
                "velocity": {
                    "x": 8.029423713684082,
                    "y": -0.0479205921292305,
                    "z": -0.033335618674755096
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075098991394043,
                "transform": {
                    "location": {
                        "x": -52.14921569824219,
                        "y": 4301.27685546875,
                        "z": 372.5998229980469
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.23743101954460144,
                        "yaw": -0.3558043837547302
                    }
                },
                "velocity": {
                    "x": 8.074874877929688,
                    "y": -0.05026162415742874,
                    "z": -0.03318703547120094
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.259164810180664,
                "transform": {
                    "location": {
                        "x": -145.7531280517578,
                        "y": 4298.576171875,
                        "z": 372.9811096191406
                    },
                    "rotation": {
                        "roll": 0.0008527914760634303,
                        "pitch": -0.19305528700351715,
                        "yaw": -0.2986755073070526
                    }
                },
                "velocity": {
                    "x": 11.258936882019043,
                    "y": -0.05812966823577881,
                    "z": -0.041891396045684814
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.483142852783203,
                "transform": {
                    "location": {
                        "x": -140.331787109375,
                        "y": 4301.796875,
                        "z": 372.9653015136719
                    },
                    "rotation": {
                        "roll": 0.0029910255689173937,
                        "pitch": -0.18593822419643402,
                        "yaw": -0.321197509765625
                    }
                },
                "velocity": {
                    "x": 13.482828140258789,
                    "y": -0.07668489962816238,
                    "z": -0.051224563270807266
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.054651260375977,
                "transform": {
                    "location": {
                        "x": -52.72749710083008,
                        "y": 4298.02783203125,
                        "z": 372.6060485839844
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.24874864518642426,
                        "yaw": -0.3036498427391052
                    }
                },
                "velocity": {
                    "x": 8.05445384979248,
                    "y": -0.04577475041151047,
                    "z": -0.0327591598033905
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.218536376953125,
                "transform": {
                    "location": {
                        "x": -95.94445037841797,
                        "y": 4294.833984375,
                        "z": 372.7803039550781
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.1523132175207138,
                        "yaw": 179.6706085205078
                    }
                },
                "velocity": {
                    "x": -7.218358516693115,
                    "y": 0.04155009239912033,
                    "z": 0.029021328315138817
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.394506931304932,
                "transform": {
                    "location": {
                        "x": -113.95460510253906,
                        "y": 4294.94091796875,
                        "z": 372.8591003417969
                    },
                    "rotation": {
                        "roll": 0.0004142937541473657,
                        "pitch": 0.09436588734388351,
                        "yaw": 179.66400146484375
                    }
                },
                "velocity": {
                    "x": -7.39432430267334,
                    "y": 0.04332622140645981,
                    "z": 0.028719700872898102
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010586738586426,
                "transform": {
                    "location": {
                        "x": -131.8855438232422,
                        "y": 4295.0458984375,
                        "z": 372.92913818359375
                    },
                    "rotation": {
                        "roll": 0.00044033880112692714,
                        "pitch": 0.22194015979766846,
                        "yaw": 179.66867065429688
                    }
                },
                "velocity": {
                    "x": -8.010381698608398,
                    "y": 0.048232290893793106,
                    "z": 0.030985355377197266
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.441227436065674,
                "transform": {
                    "location": {
                        "x": -53.45945358276367,
                        "y": 4294.67919921875,
                        "z": 372.6111755371094
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": 0.27749690413475037,
                        "yaw": 179.81448364257812
                    }
                },
                "velocity": {
                    "x": -2.441169261932373,
                    "y": -0.015454689040780067,
                    "z": 0.006772832944989204
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40144288539886475,
        "expert_target_speed": 1.1963801615409062,
        "target_point": [
            55.53202674401371,
            0.5486335449664984
        ],
        "target_point_next": [
            59.88189742538511,
            0.5596853159295437
        ]
    },
    "320": {
        "acceleration": [
            0.1474018096923828,
            -0.16598361730575562,
            0.002727889223024249
        ],
        "angular_velocity": [
            -0.15829114615917206,
            -0.0132449297234416,
            0.15811151266098022
        ],
        "forward_vector": [
            -0.9999558329582214,
            0.00848792027682066,
            0.004039752762764692
        ],
        "right_vector": [
            -0.008488085120916367,
            -0.9999639987945557,
            -2.3838059860281646e-05
        ],
        "location": [
            -105.94148254394531,
            4292.1484375,
            372.8263854980469
        ],
        "rotation": [
            0.0013658313546329737,
            0.23146143555641174,
            179.513671875
        ],
        "velocity": [
            0.0008639156585559249,
            -0.003963143099099398,
            0.0007358932052738965
        ],
        "speed": 0.004056211716495737,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029678344726562,
                "transform": {
                    "location": {
                        "x": -92.63929748535156,
                        "y": 4301.515625,
                        "z": 372.7731018066406
                    },
                    "rotation": {
                        "roll": 0.0004668199399020523,
                        "pitch": -0.23413203656673431,
                        "yaw": -0.3604736030101776
                    }
                },
                "velocity": {
                    "x": 8.029463768005371,
                    "y": -0.04860851168632507,
                    "z": -0.032782576978206635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030174255371094,
                "transform": {
                    "location": {
                        "x": -91.55609130859375,
                        "y": 4298.2587890625,
                        "z": 372.8070983886719
                    },
                    "rotation": {
                        "roll": 0.0009637023904360831,
                        "pitch": -0.23425498604774475,
                        "yaw": -0.3578490614891052
                    }
                },
                "velocity": {
                    "x": 8.029963493347168,
                    "y": -0.04839712008833885,
                    "z": -0.03238087520003319
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024849891662598,
                "transform": {
                    "location": {
                        "x": -50.137264251708984,
                        "y": 4301.26513671875,
                        "z": 372.5914611816406
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3556823432445526
                    }
                },
                "velocity": {
                    "x": 8.024624824523926,
                    "y": -0.049819547683000565,
                    "z": -0.033559348434209824
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.17605972290039,
                "transform": {
                    "location": {
                        "x": -142.82054138183594,
                        "y": 4298.56005859375,
                        "z": 372.97015380859375
                    },
                    "rotation": {
                        "roll": 0.0010766227496787906,
                        "pitch": -0.19152532517910004,
                        "yaw": -0.324462890625
                    }
                },
                "velocity": {
                    "x": 12.175777435302734,
                    "y": -0.0694313496351242,
                    "z": -0.045459017157554626
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.374862670898438,
                "transform": {
                    "location": {
                        "x": -136.97906494140625,
                        "y": 4301.77734375,
                        "z": 372.95233154296875
                    },
                    "rotation": {
                        "roll": 0.002306991023942828,
                        "pitch": -0.22634562849998474,
                        "yaw": -0.3414916396141052
                    }
                },
                "velocity": {
                    "x": 13.374528884887695,
                    "y": -0.07833666354417801,
                    "z": -0.05303644388914108
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.904701232910156,
                "transform": {
                    "location": {
                        "x": -50.82624816894531,
                        "y": 4298.01708984375,
                        "z": 372.5984802246094
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.2738632559776306,
                        "yaw": -0.2874450087547302
                    }
                },
                "velocity": {
                    "x": 6.904535293579102,
                    "y": -0.03810897842049599,
                    "z": -0.02896777167916298
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.066459655761719,
                "transform": {
                    "location": {
                        "x": -97.69647979736328,
                        "y": 4294.84375,
                        "z": 372.7870178222656
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": 0.20672932267189026,
                        "yaw": 179.67080688476562
                    }
                },
                "velocity": {
                    "x": -7.0662841796875,
                    "y": 0.04058076813817024,
                    "z": 0.028792791068553925
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019396781921387,
                "transform": {
                    "location": {
                        "x": -115.8696060180664,
                        "y": 4294.95263671875,
                        "z": 372.8658142089844
                    },
                    "rotation": {
                        "roll": -0.0011596676195040345,
                        "pitch": 0.327958345413208,
                        "yaw": 179.67205810546875
                    }
                },
                "velocity": {
                    "x": -8.019209861755371,
                    "y": 0.04579246789216995,
                    "z": 0.03004773147404194
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.105042457580566,
                "transform": {
                    "location": {
                        "x": -133.9137420654297,
                        "y": 4295.0576171875,
                        "z": 372.9367980957031
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": 0.2669101059436798,
                        "yaw": 179.6461639404297
                    }
                },
                "velocity": {
                    "x": -8.10483455657959,
                    "y": 0.04814022406935692,
                    "z": 0.03230176866054535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3022704124450684,
                "transform": {
                    "location": {
                        "x": -54.18671798706055,
                        "y": 4294.67529296875,
                        "z": 372.6136169433594
                    },
                    "rotation": {
                        "roll": 0.00092821114230901,
                        "pitch": 0.26075610518455505,
                        "yaw": 179.9730224609375
                    }
                },
                "velocity": {
                    "x": -3.3021769523620605,
                    "y": -0.021859435364603996,
                    "z": 0.01183907501399517
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4025597870349884,
        "expert_target_speed": 1.1916795021950912,
        "target_point": [
            55.531245737358994,
            0.5489828049320954
        ],
        "target_point_next": [
            59.8811164450675,
            0.560024204995238
        ]
    },
    "325": {
        "acceleration": [
            -0.19575558602809906,
            0.1860002875328064,
            -0.0008405675180256367
        ],
        "angular_velocity": [
            0.202067032456398,
            0.04749554023146629,
            -0.24252519011497498
        ],
        "forward_vector": [
            -0.9999534487724304,
            0.008708919398486614,
            0.004161226097494364
        ],
        "right_vector": [
            -0.008709194138646126,
            -0.9999620914459229,
            -4.786538556800224e-05
        ],
        "location": [
            -105.94562530517578,
            4292.1494140625,
            372.82635498046875
        ],
        "rotation": [
            0.002742508426308632,
            0.23842139542102814,
            179.50100708007812
        ],
        "velocity": [
            -0.026052214205265045,
            0.0068621342070400715,
            0.0008662414620630443
        ],
        "speed": 0.02694080085803767,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02983570098877,
                "transform": {
                    "location": {
                        "x": -90.63148498535156,
                        "y": 4301.50341796875,
                        "z": 372.76495361328125
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.23592838644981384,
                        "yaw": -0.3306579887866974
                    }
                },
                "velocity": {
                    "x": 8.029630661010742,
                    "y": -0.04716973379254341,
                    "z": -0.032705433666706085
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03119945526123,
                "transform": {
                    "location": {
                        "x": -89.54827880859375,
                        "y": 4298.2470703125,
                        "z": 372.7989501953125
                    },
                    "rotation": {
                        "roll": 0.000584398687351495,
                        "pitch": -0.2351975440979004,
                        "yaw": -0.3324889838695526
                    }
                },
                "velocity": {
                    "x": 8.030987739562988,
                    "y": -0.048146627843379974,
                    "z": -0.03287438303232193
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075675964355469,
                "transform": {
                    "location": {
                        "x": -48.12429428100586,
                        "y": 4301.25341796875,
                        "z": 372.58306884765625
                    },
                    "rotation": {
                        "roll": 8.028386946534738e-05,
                        "pitch": -0.23797744512557983,
                        "yaw": -0.3552245795726776
                    }
                },
                "velocity": {
                    "x": 8.075451850891113,
                    "y": -0.05016428232192993,
                    "z": -0.033297594636678696
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.723450660705566,
                "transform": {
                    "location": {
                        "x": -139.72499084472656,
                        "y": 4298.54248046875,
                        "z": 372.9585876464844
                    },
                    "rotation": {
                        "roll": 1.782852632459253e-05,
                        "pitch": -0.20532231032848358,
                        "yaw": -0.33648681640625
                    }
                },
                "velocity": {
                    "x": 12.72314453125,
                    "y": -0.07412513345479965,
                    "z": -0.0480010025203228
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.38991641998291,
                "transform": {
                    "location": {
                        "x": -133.63429260253906,
                        "y": 4301.7578125,
                        "z": 372.93939208984375
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.2204921543598175,
                        "yaw": -0.34030142426490784
                    }
                },
                "velocity": {
                    "x": 13.38957691192627,
                    "y": -0.07934238016605377,
                    "z": -0.052899319678545
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.868973255157471,
                "transform": {
                    "location": {
                        "x": -49.130859375,
                        "y": 4298.00732421875,
                        "z": 372.59112548828125
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -0.2493838518857956,
                        "yaw": -0.294677734375
                    }
                },
                "velocity": {
                    "x": 6.868796348571777,
                    "y": -0.03958673030138016,
                    "z": -0.02939637191593647
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.148458480834961,
                "transform": {
                    "location": {
                        "x": -99.59476470947266,
                        "y": 4294.85498046875,
                        "z": 372.79412841796875
                    },
                    "rotation": {
                        "roll": -0.0003967285738326609,
                        "pitch": 0.2794640064239502,
                        "yaw": 179.6676788330078
                    }
                },
                "velocity": {
                    "x": -8.148244857788086,
                    "y": 0.04870951920747757,
                    "z": 0.03312712535262108
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.964127540588379,
                "transform": {
                    "location": {
                        "x": -117.90734100341797,
                        "y": 4294.96435546875,
                        "z": 372.873779296875
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 0.30137524008750916,
                        "yaw": 179.67298889160156
                    }
                },
                "velocity": {
                    "x": -7.963932991027832,
                    "y": 0.04549982026219368,
                    "z": 0.03208925202488899
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9554057121276855,
                "transform": {
                    "location": {
                        "x": -135.9152374267578,
                        "y": 4295.0693359375,
                        "z": 372.94482421875
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": 0.19708509743213654,
                        "yaw": 179.67779541015625
                    }
                },
                "velocity": {
                    "x": -7.955214023590088,
                    "y": 0.04564683884382248,
                    "z": 0.031088227406144142
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.03338623046875,
                "transform": {
                    "location": {
                        "x": -55.10749816894531,
                        "y": 4294.67041015625,
                        "z": 372.6173400878906
                    },
                    "rotation": {
                        "roll": 0.0009941681055352092,
                        "pitch": 0.25567445158958435,
                        "yaw": -179.856201171875
                    }
                },
                "velocity": {
                    "x": -4.0332489013671875,
                    "y": -0.029118720442056656,
                    "z": 0.016031760722398758
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4048026502132416,
        "expert_target_speed": 1.2144934688976832,
        "target_point": [
            55.52697180552868,
            0.5622096619437859
        ],
        "target_point_next": [
            59.87683996383166,
            0.5742134812427054
        ]
    },
    "330": {
        "acceleration": [
            -0.4311850666999817,
            -0.00406946986913681,
            0.011419298127293587
        ],
        "angular_velocity": [
            -0.13177403807640076,
            0.21796594560146332,
            -0.640457808971405
        ],
        "forward_vector": [
            -0.999938428401947,
            0.009941920638084412,
            0.0049279723316431046
        ],
        "right_vector": [
            -0.009943243116140366,
            -0.9999505877494812,
            -0.00024382934498135
        ],
        "location": [
            -105.9672622680664,
            4292.1513671875,
            372.8263244628906
        ],
        "rotation": [
            0.013970562256872654,
            0.28235316276550293,
            179.43035888671875
        ],
        "velocity": [
            -0.19599540531635284,
            0.014487582258880138,
            0.0019643402192741632
        ],
        "speed": 0.1965301222327744,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029687881469727,
                "transform": {
                    "location": {
                        "x": -88.62367248535156,
                        "y": 4301.4921875,
                        "z": 372.7567443847656
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.23721246421337128,
                        "yaw": -0.3548888862133026
                    }
                },
                "velocity": {
                    "x": 8.029476165771484,
                    "y": -0.04772442579269409,
                    "z": -0.0334024578332901
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029614448547363,
                "transform": {
                    "location": {
                        "x": -87.54046630859375,
                        "y": 4298.2353515625,
                        "z": 372.7906799316406
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": -0.23486287891864777,
                        "yaw": -0.358154296875
                    }
                },
                "velocity": {
                    "x": 8.029402732849121,
                    "y": -0.048434045165777206,
                    "z": -0.032448314130306244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022490501403809,
                "transform": {
                    "location": {
                        "x": -46.111873626708984,
                        "y": 4301.24169921875,
                        "z": 372.57476806640625
                    },
                    "rotation": {
                        "roll": 0.0015114265261217952,
                        "pitch": -0.2398625761270523,
                        "yaw": -0.3554382026195526
                    }
                },
                "velocity": {
                    "x": 8.022269248962402,
                    "y": -0.04974094405770302,
                    "z": -0.03282095864415169
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.306859016418457,
                "transform": {
                    "location": {
                        "x": -136.45913696289062,
                        "y": 4298.52294921875,
                        "z": 372.9460144042969
                    },
                    "rotation": {
                        "roll": 5.464609057526104e-05,
                        "pitch": -0.20687276124954224,
                        "yaw": -0.3372497260570526
                    }
                },
                "velocity": {
                    "x": 13.306529998779297,
                    "y": -0.07817274332046509,
                    "z": -0.051594994962215424
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.404924392700195,
                "transform": {
                    "location": {
                        "x": -130.28421020507812,
                        "y": 4301.73828125,
                        "z": 372.9263916015625
                    },
                    "rotation": {
                        "roll": 0.0007333596586249769,
                        "pitch": -0.22283491492271423,
                        "yaw": -0.3484496474266052
                    }
                },
                "velocity": {
                    "x": 13.404568672180176,
                    "y": -0.08208722621202469,
                    "z": -0.05265406519174576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.742486953735352,
                "transform": {
                    "location": {
                        "x": -47.31046676635742,
                        "y": 4297.9970703125,
                        "z": 372.58319091796875
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.21441328525543213,
                        "yaw": -0.3021850287914276
                    }
                },
                "velocity": {
                    "x": 7.7422990798950195,
                    "y": -0.04480814188718796,
                    "z": -0.030052384361624718
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.03433895111084,
                "transform": {
                    "location": {
                        "x": -101.77281188964844,
                        "y": 4294.8671875,
                        "z": 372.8027648925781
                    },
                    "rotation": {
                        "roll": -0.0003967285738326609,
                        "pitch": 0.29472264647483826,
                        "yaw": 179.6623992919922
                    }
                },
                "velocity": {
                    "x": -9.034107208251953,
                    "y": 0.0532241053879261,
                    "z": 0.036804378032684326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.3655314445495605,
                "transform": {
                    "location": {
                        "x": -119.80976104736328,
                        "y": 4294.9755859375,
                        "z": 372.88226318359375
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.07330158352851868,
                        "yaw": 179.6685333251953
                    }
                },
                "velocity": {
                    "x": -7.365350246429443,
                    "y": 0.042576923966407776,
                    "z": 0.029291771352291107
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.524003028869629,
                "transform": {
                    "location": {
                        "x": -137.87335205078125,
                        "y": 4295.0810546875,
                        "z": 372.95269775390625
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.11413245648145676,
                        "yaw": 179.64749145507812
                    }
                },
                "velocity": {
                    "x": -7.523813724517822,
                    "y": 0.04447494074702263,
                    "z": 0.029447201639413834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.777425289154053,
                "transform": {
                    "location": {
                        "x": -56.21156311035156,
                        "y": 4294.6640625,
                        "z": 372.6219482421875
                    },
                    "rotation": {
                        "roll": 0.002354995347559452,
                        "pitch": 0.2546772360801697,
                        "yaw": -179.73934936523438
                    }
                },
                "velocity": {
                    "x": -4.777365684509277,
                    "y": -0.01454224344342947,
                    "z": 0.01889384165406227
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4148506820201874,
        "expert_target_speed": 1.3839243380123054,
        "target_point": [
            55.504581017756976,
            0.6324174919809891
        ],
        "target_point_next": [
            59.85443106707436,
            0.6497851270966915
        ]
    },
    "335": {
        "acceleration": [
            -0.6161266565322876,
            0.13429254293441772,
            0.005486109293997288
        ],
        "angular_velocity": [
            0.11083850264549255,
            0.15724243223667145,
            -0.708686113357544
        ],
        "forward_vector": [
            -0.9998927712440491,
            0.013637552969157696,
            0.005338524002581835
        ],
        "right_vector": [
            -0.01363963820040226,
            -0.9999069571495056,
            -0.0003543226921465248
        ],
        "location": [
            -106.03468322753906,
            4292.1572265625,
            372.8265075683594
        ],
        "rotation": [
            0.02030148357152939,
            0.30587634444236755,
            179.21859741210938
        ],
        "velocity": [
            -0.3756595849990845,
            0.0399133637547493,
            0.0023825073149055243
        ],
        "speed": 0.37777400705700137,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029743194580078,
                "transform": {
                    "location": {
                        "x": -86.61585998535156,
                        "y": 4301.47998046875,
                        "z": 372.7485046386719
                    },
                    "rotation": {
                        "roll": 0.00037296084337867796,
                        "pitch": -0.23718513548374176,
                        "yaw": -0.3319091498851776
                    }
                },
                "velocity": {
                    "x": 8.02952766418457,
                    "y": -0.04846639931201935,
                    "z": -0.03320998698472977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029399871826172,
                "transform": {
                    "location": {
                        "x": -85.53265380859375,
                        "y": 4298.2236328125,
                        "z": 372.7825012207031
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": -0.23544344305992126,
                        "yaw": -0.3366089165210724
                    }
                },
                "velocity": {
                    "x": 8.029184341430664,
                    "y": -0.04866180196404457,
                    "z": -0.0331956185400486
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075456619262695,
                "transform": {
                    "location": {
                        "x": -44.09890365600586,
                        "y": 4301.22998046875,
                        "z": 372.56634521484375
                    },
                    "rotation": {
                        "roll": 0.00016540291835553944,
                        "pitch": -0.23837359249591827,
                        "yaw": -0.3558349311351776
                    }
                },
                "velocity": {
                    "x": 8.075230598449707,
                    "y": -0.05010635405778885,
                    "z": -0.033729299902915955
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.470979690551758,
                "transform": {
                    "location": {
                        "x": -133.1042938232422,
                        "y": 4298.50341796875,
                        "z": 372.93304443359375
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.21612083911895752,
                        "yaw": -0.3371276557445526
                    }
                },
                "velocity": {
                    "x": 13.47064208984375,
                    "y": -0.0792640671133995,
                    "z": -0.0531003475189209
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400944709777832,
                "transform": {
                    "location": {
                        "x": -126.93335723876953,
                        "y": 4301.71728515625,
                        "z": 372.91314697265625
                    },
                    "rotation": {
                        "roll": 0.0012212528381496668,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.35137939453125
                    }
                },
                "velocity": {
                    "x": 13.40058422088623,
                    "y": -0.08267737925052643,
                    "z": -0.053181279450654984
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.756470680236816,
                "transform": {
                    "location": {
                        "x": -45.28171920776367,
                        "y": 4297.98583984375,
                        "z": 372.5747985839844
                    },
                    "rotation": {
                        "roll": 0.00046335961087606847,
                        "pitch": -0.20089633762836456,
                        "yaw": -0.3960571587085724
                    }
                },
                "velocity": {
                    "x": 8.75623607635498,
                    "y": -0.05239778012037277,
                    "z": -0.03685830906033516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.941000938415527,
                "transform": {
                    "location": {
                        "x": -103.9105453491211,
                        "y": 4294.88037109375,
                        "z": 372.8121337890625
                    },
                    "rotation": {
                        "roll": 0.0003306864819023758,
                        "pitch": 0.188875213265419,
                        "yaw": 179.66233825683594
                    }
                },
                "velocity": {
                    "x": -7.940796375274658,
                    "y": 0.04681866616010666,
                    "z": 0.03250432014465332
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.609203338623047,
                "transform": {
                    "location": {
                        "x": -121.65593719482422,
                        "y": 4294.98583984375,
                        "z": 372.8890686035156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.21045178174972534,
                        "yaw": 179.66847229003906
                    }
                },
                "velocity": {
                    "x": -7.609017372131348,
                    "y": 0.04405052214860916,
                    "z": 0.029846562072634697
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.436285018920898,
                "transform": {
                    "location": {
                        "x": -139.63031005859375,
                        "y": 4295.0908203125,
                        "z": 372.9602355957031
                    },
                    "rotation": {
                        "roll": 0.00153723219409585,
                        "pitch": -0.08162758499383926,
                        "yaw": 179.66339111328125
                    }
                },
                "velocity": {
                    "x": -6.436122417449951,
                    "y": 0.038635365664958954,
                    "z": 0.02454053796827793
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.272432327270508,
                "transform": {
                    "location": {
                        "x": -57.49171829223633,
                        "y": 4294.6611328125,
                        "z": 372.6275634765625
                    },
                    "rotation": {
                        "roll": 0.0028650444000959396,
                        "pitch": 0.25008052587509155,
                        "yaw": -179.8400115966797
                    }
                },
                "velocity": {
                    "x": -5.272382736206055,
                    "y": -0.00633583776652813,
                    "z": 0.02196373976767063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42323753237724304,
        "expert_target_speed": 1.5649146392056466,
        "target_point": [
            55.43436993279294,
            0.8424950549362121
        ],
        "target_point_next": [
            59.78412608230708,
            0.8759394275527437
        ]
    },
    "340": {
        "acceleration": [
            -0.601201057434082,
            -0.04883967339992523,
            -0.014830779284238815
        ],
        "angular_velocity": [
            -0.07351281493902206,
            0.15455177426338196,
            -1.0457432270050049
        ],
        "forward_vector": [
            -0.9998122453689575,
            0.01877596601843834,
            0.004779558628797531
        ],
        "right_vector": [
            -0.018776990473270416,
            -0.9998236894607544,
            -0.00016941830108407885
        ],
        "location": [
            -106.12491607666016,
            4292.1650390625,
            372.8269958496094
        ],
        "rotation": [
            0.009707064367830753,
            0.27384957671165466,
            178.9241485595703
        ],
        "velocity": [
            -0.41511648893356323,
            0.03961924836039543,
            0.0015619086334481835
        ],
        "speed": 0.41700285877338034,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029842376708984,
                "transform": {
                    "location": {
                        "x": -84.60804748535156,
                        "y": 4301.46875,
                        "z": 372.7403564453125
                    },
                    "rotation": {
                        "roll": 0.00048178277211263776,
                        "pitch": -0.23751981556415558,
                        "yaw": -0.3599547743797302
                    }
                },
                "velocity": {
                    "x": 8.029624938964844,
                    "y": -0.04845195263624191,
                    "z": -0.03386078402400017
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030905723571777,
                "transform": {
                    "location": {
                        "x": -83.52484130859375,
                        "y": 4298.2119140625,
                        "z": 372.7742614746094
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": -0.23504045605659485,
                        "yaw": -0.36279296875
                    }
                },
                "velocity": {
                    "x": 8.030684471130371,
                    "y": -0.048830870538949966,
                    "z": -0.03415572643280029
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023273468017578,
                "transform": {
                    "location": {
                        "x": -42.086483001708984,
                        "y": 4301.21826171875,
                        "z": 372.5579528808594
                    },
                    "rotation": {
                        "roll": 9.781160770216957e-05,
                        "pitch": -0.23950056731700897,
                        "yaw": -0.35546866059303284
                    }
                },
                "velocity": {
                    "x": 8.02304744720459,
                    "y": -0.04980527609586716,
                    "z": -0.03371947258710861
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.450016975402832,
                "transform": {
                    "location": {
                        "x": -129.73812866210938,
                        "y": 4298.48388671875,
                        "z": 372.919921875
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.2244878113269806,
                        "yaw": -0.3370361328125
                    }
                },
                "velocity": {
                    "x": 13.449682235717773,
                    "y": -0.07912687957286835,
                    "z": -0.05256282165646553
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.399312973022461,
                "transform": {
                    "location": {
                        "x": -123.58374786376953,
                        "y": 4301.6962890625,
                        "z": 372.9000244140625
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.2242146134376526,
                        "yaw": -0.3543395698070526
                    }
                },
                "velocity": {
                    "x": 13.398961067199707,
                    "y": -0.08224599808454514,
                    "z": -0.05174577236175537
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.341754913330078,
                "transform": {
                    "location": {
                        "x": -43.13484191894531,
                        "y": 4297.97216796875,
                        "z": 372.5661926269531
                    },
                    "rotation": {
                        "roll": 0.0014351166319102049,
                        "pitch": -0.24072317779064178,
                        "yaw": -0.4015807509422302
                    }
                },
                "velocity": {
                    "x": 8.341519355773926,
                    "y": -0.05105089396238327,
                    "z": -0.03636408597230911
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.115992069244385,
                "transform": {
                    "location": {
                        "x": -105.7524185180664,
                        "y": 4294.89111328125,
                        "z": 372.8195495605469
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": 0.17923781275749207,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": -7.115808010101318,
                    "y": 0.04199780896306038,
                    "z": 0.02925649657845497
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.274102210998535,
                "transform": {
                    "location": {
                        "x": -123.67648315429688,
                        "y": 4294.99755859375,
                        "z": 372.8960876464844
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": 0.43681105971336365,
                        "yaw": 179.6671142578125
                    }
                },
                "velocity": {
                    "x": -8.27388858795166,
                    "y": 0.049256544560194016,
                    "z": 0.03321397677063942
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -164.41827392578125,
                        "y": 4301.8388671875,
                        "z": 373.43878173828125
                    },
                    "rotation": {
                        "roll": -5.211051035125536e-11,
                        "pitch": -0.19540487229824066,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.143229007720947,
                "transform": {
                    "location": {
                        "x": -58.91804504394531,
                        "y": 4294.65869140625,
                        "z": 372.6332702636719
                    },
                    "rotation": {
                        "roll": 0.0020685959607362747,
                        "pitch": 0.2548343539237976,
                        "yaw": -179.91864013671875
                    }
                },
                "velocity": {
                    "x": -6.1431779861450195,
                    "y": -0.004549167584627867,
                    "z": 0.024701852351427078
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.442440927028656,
        "expert_target_speed": 1.6040435484676365,
        "target_point": [
            55.33894489272358,
            1.1334698530155785
        ],
        "target_point_next": [
            59.68847174246395,
            1.1892665346686033
        ]
    },
    "345": {
        "acceleration": [
            -0.592951774597168,
            0.03302730619907379,
            -0.003745271824300289
        ],
        "angular_velocity": [
            -0.12324658036231995,
            0.02827606536448002,
            -1.3257780075073242
        ],
        "forward_vector": [
            -0.9996599555015564,
            0.025574099272489548,
            0.005093552637845278
        ],
        "right_vector": [
            -0.02557593211531639,
            -0.9996728301048279,
            -0.0002952655195258558
        ],
        "location": [
            -106.24491882324219,
            4292.1767578125,
            372.8274230957031
        ],
        "rotation": [
            0.01691768877208233,
            0.2918403148651123,
            178.53453063964844
        ],
        "velocity": [
            -0.5527854561805725,
            0.0592016875743866,
            0.0019553564488887787
        ],
        "speed": 0.555946580506094,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029848098754883,
                "transform": {
                    "location": {
                        "x": -82.60023498535156,
                        "y": 4301.45654296875,
                        "z": 372.7320861816406
                    },
                    "rotation": {
                        "roll": -6.103517080191523e-05,
                        "pitch": -0.23751981556415558,
                        "yaw": -0.333343505859375
                    }
                },
                "velocity": {
                    "x": 8.029632568359375,
                    "y": -0.048614270985126495,
                    "z": -0.033153556287288666
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031092643737793,
                "transform": {
                    "location": {
                        "x": -81.51702880859375,
                        "y": 4298.2001953125,
                        "z": 372.7659606933594
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.236146941781044,
                        "yaw": -0.33303824067115784
                    }
                },
                "velocity": {
                    "x": 8.030877113342285,
                    "y": -0.04838808253407478,
                    "z": -0.03344537690281868
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076375961303711,
                "transform": {
                    "location": {
                        "x": -40.07351303100586,
                        "y": 4301.2060546875,
                        "z": 372.549560546875
                    },
                    "rotation": {
                        "roll": 0.0007718484266661108,
                        "pitch": -0.2390497773885727,
                        "yaw": -0.3596191108226776
                    }
                },
                "velocity": {
                    "x": 8.076147079467773,
                    "y": -0.050738491117954254,
                    "z": -0.03344710171222687
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.430280685424805,
                "transform": {
                    "location": {
                        "x": -126.37866973876953,
                        "y": 4298.46435546875,
                        "z": 372.90673828125
                    },
                    "rotation": {
                        "roll": 1.7621723600313999e-06,
                        "pitch": -0.22589483857154846,
                        "yaw": -0.33843994140625
                    }
                },
                "velocity": {
                    "x": 13.429938316345215,
                    "y": -0.08030135929584503,
                    "z": -0.05226966738700867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400134086608887,
                "transform": {
                    "location": {
                        "x": -120.23413848876953,
                        "y": 4301.6767578125,
                        "z": 372.8868408203125
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.22634562849998474,
                        "yaw": -0.3302306532859802
                    }
                },
                "velocity": {
                    "x": 13.399797439575195,
                    "y": -0.07858962565660477,
                    "z": -0.05320705473423004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.058645248413086,
                "transform": {
                    "location": {
                        "x": -41.091796875,
                        "y": 4297.9599609375,
                        "z": 372.5576477050781
                    },
                    "rotation": {
                        "roll": 0.00157350639346987,
                        "pitch": -0.24987562000751495,
                        "yaw": -0.38732901215553284
                    }
                },
                "velocity": {
                    "x": 8.058422088623047,
                    "y": -0.04959609732031822,
                    "z": -0.03387470543384552
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9060540199279785,
                "transform": {
                    "location": {
                        "x": -107.61460876464844,
                        "y": 4294.90185546875,
                        "z": 372.8265686035156
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": 0.25419914722442627,
                        "yaw": 179.6611328125
                    }
                },
                "velocity": {
                    "x": -7.905858516693115,
                    "y": 0.04666857793927193,
                    "z": 0.030209960415959358
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.891936302185059,
                "transform": {
                    "location": {
                        "x": -125.6864013671875,
                        "y": 4295.00927734375,
                        "z": 372.90478515625
                    },
                    "rotation": {
                        "roll": 0.00038763831253163517,
                        "pitch": 0.21461819112300873,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -7.891732215881348,
                    "y": 0.0467543862760067,
                    "z": 0.03218306601047516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4638392925262451,
                "transform": {
                    "location": {
                        "x": -164.4188995361328,
                        "y": 4301.8388671875,
                        "z": 373.0617980957031
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": -0.004940534010529518,
                    "y": -6.707226566504687e-05,
                    "z": -1.4638309478759766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.008459091186523,
                "transform": {
                    "location": {
                        "x": -60.53093719482422,
                        "y": 4294.658203125,
                        "z": 372.6398620605469
                    },
                    "rotation": {
                        "roll": 0.0007923560333438218,
                        "pitch": 0.26055803894996643,
                        "yaw": -179.9680633544922
                    }
                },
                "velocity": {
                    "x": -7.008396625518799,
                    "y": -0.004022994078695774,
                    "z": 0.02933536469936371
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.47368818521499634,
        "expert_target_speed": 1.7427323645163468,
        "target_point": [
            55.20969446674834,
            1.518401174095957
        ],
        "target_point_next": [
            59.55874132638856,
            1.6037738802106414
        ]
    },
    "350": {
        "acceleration": [
            0.2524763345718384,
            0.13861022889614105,
            -0.014566420577466488
        ],
        "angular_velocity": [
            0.05923039838671684,
            -0.19745256006717682,
            -1.7002637386322021
        ],
        "forward_vector": [
            -0.9994452595710754,
            0.033031027764081955,
            0.0042542084120213985
        ],
        "right_vector": [
            -0.033031612634658813,
            -0.9994543194770813,
            -6.780056719435379e-05
        ],
        "location": [
            -106.37429809570312,
            4292.1904296875,
            372.82806396484375
        ],
        "rotation": [
            0.0038847215473651886,
            0.24374894797801971,
            178.1071014404297
        ],
        "velocity": [
            -0.48161837458610535,
            0.06339161098003387,
            0.001633071806281805
        ],
        "speed": 0.48577232844369184,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029060363769531,
                "transform": {
                    "location": {
                        "x": -80.59249877929688,
                        "y": 4301.4453125,
                        "z": 372.7238464355469
                    },
                    "rotation": {
                        "roll": 0.0016131928423419595,
                        "pitch": -0.2387697398662567,
                        "yaw": -0.3683166205883026
                    }
                },
                "velocity": {
                    "x": 8.028833389282227,
                    "y": -0.05065499618649483,
                    "z": -0.03274521231651306
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028414726257324,
                "transform": {
                    "location": {
                        "x": -79.50921630859375,
                        "y": 4298.1884765625,
                        "z": 372.7577209472656
                    },
                    "rotation": {
                        "roll": -0.0005187988863326609,
                        "pitch": -0.23705536127090454,
                        "yaw": -0.36285400390625
                    }
                },
                "velocity": {
                    "x": 8.028200149536133,
                    "y": -0.04915548861026764,
                    "z": -0.032070498913526535
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022977828979492,
                "transform": {
                    "location": {
                        "x": -38.061092376708984,
                        "y": 4301.1943359375,
                        "z": 372.54119873046875
                    },
                    "rotation": {
                        "roll": -3.051756721106358e-05,
                        "pitch": -0.23943910002708435,
                        "yaw": -0.3605040907859802
                    }
                },
                "velocity": {
                    "x": 8.022748947143555,
                    "y": -0.05043672397732735,
                    "z": -0.03361053764820099
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -164.4375,
                        "y": 4298.5888671875,
                        "z": 373.3995361328125
                    },
                    "rotation": {
                        "roll": -5.211051035125536e-11,
                        "pitch": -0.19540487229824066,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.411513328552246,
                "transform": {
                    "location": {
                        "x": -123.02366638183594,
                        "y": 4298.44482421875,
                        "z": 372.8935852050781
                    },
                    "rotation": {
                        "roll": -9.155276347883046e-05,
                        "pitch": -0.22525279223918915,
                        "yaw": -0.3430481255054474
                    }
                },
                "velocity": {
                    "x": 13.411164283752441,
                    "y": -0.08108675479888916,
                    "z": -0.05273004248738289
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400299072265625,
                "transform": {
                    "location": {
                        "x": -116.88452911376953,
                        "y": 4301.6572265625,
                        "z": 372.87353515625
                    },
                    "rotation": {
                        "roll": -0.0003662107919808477,
                        "pitch": -0.22595630586147308,
                        "yaw": -0.3366088569164276
                    }
                },
                "velocity": {
                    "x": 13.399970054626465,
                    "y": -0.07782742381095886,
                    "z": -0.05239370837807655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.92429780960083,
                "transform": {
                    "location": {
                        "x": -39.19929504394531,
                        "y": 4297.9482421875,
                        "z": 372.5500183105469
                    },
                    "rotation": {
                        "roll": 0.0011940042022615671,
                        "pitch": -0.27483996748924255,
                        "yaw": -0.36480712890625
                    }
                },
                "velocity": {
                    "x": 6.92410135269165,
                    "y": -0.04286195710301399,
                    "z": -0.029666317626833916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.237639427185059,
                "transform": {
                    "location": {
                        "x": -109.66913604736328,
                        "y": 4294.91357421875,
                        "z": 372.8346862792969
                    },
                    "rotation": {
                        "roll": -0.0017089842585846782,
                        "pitch": 0.2568560838699341,
                        "yaw": 179.6617431640625
                    }
                },
                "velocity": {
                    "x": -8.237427711486816,
                    "y": 0.0487382635474205,
                    "z": 0.033239517360925674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.061161041259766,
                "transform": {
                    "location": {
                        "x": -127.67343139648438,
                        "y": 4295.02099609375,
                        "z": 372.9124450683594
                    },
                    "rotation": {
                        "roll": 0.00015311870083678514,
                        "pitch": 0.25007370114326477,
                        "yaw": 179.6566619873047
                    }
                },
                "velocity": {
                    "x": -8.060948371887207,
                    "y": 0.048286072909832,
                    "z": 0.03304169699549675
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.27227070927619934,
                "transform": {
                    "location": {
                        "x": -164.4191436767578,
                        "y": 4301.8388671875,
                        "z": 372.9612121582031
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": -0.20131981372833252,
                        "yaw": -0.338714599609375
                    }
                },
                "velocity": {
                    "x": 0.0009320796234533191,
                    "y": -2.2826350686955266e-05,
                    "z": 0.2722690999507904
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.907490253448486,
                "transform": {
                    "location": {
                        "x": -62.404296875,
                        "y": 4294.65869140625,
                        "z": 372.64764404296875
                    },
                    "rotation": {
                        "roll": 0.0029989127069711685,
                        "pitch": 0.2589665949344635,
                        "yaw": 179.95059204101562
                    }
                },
                "velocity": {
                    "x": -7.907408237457275,
                    "y": 0.016505654901266098,
                    "z": 0.0320589616894722
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5085752606391907,
        "expert_target_speed": 1.6726267275762292,
        "target_point": [
            55.067070554753535,
            1.9396167675014158
        ],
        "target_point_next": [
            59.41535951094215,
            2.0574311969399064
        ]
    },
    "355": {
        "acceleration": [
            -1.0870170593261719,
            0.27566879987716675,
            -0.013109776191413403
        ],
        "angular_velocity": [
            0.22155694663524628,
            0.1626247763633728,
            -1.8626588582992554
        ],
        "forward_vector": [
            -0.9991791248321533,
            0.04025369882583618,
            0.004551394376903772
        ],
        "right_vector": [
            -0.04025468975305557,
            -0.9991894960403442,
            -0.0001265538448933512
        ],
        "location": [
            -106.5082015991211,
            4292.2060546875,
            372.82855224609375
        ],
        "rotation": [
            0.0072510759346187115,
            0.2607766091823578,
            177.6929931640625
        ],
        "velocity": [
            -0.6036849617958069,
            0.08149261027574539,
            0.001712799072265625
        ],
        "speed": 0.6091605524227248,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030077934265137,
                "transform": {
                    "location": {
                        "x": -78.58468627929688,
                        "y": 4301.43310546875,
                        "z": 372.715576171875
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": -0.23873558640480042,
                        "yaw": -0.341400146484375
                    }
                },
                "velocity": {
                    "x": 8.029867172241211,
                    "y": -0.04780706390738487,
                    "z": -0.03309144824743271
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030811309814453,
                "transform": {
                    "location": {
                        "x": -77.50140380859375,
                        "y": 4298.1767578125,
                        "z": 372.7494812011719
                    },
                    "rotation": {
                        "roll": 0.0001922230003401637,
                        "pitch": -0.23690509796142578,
                        "yaw": -0.337921142578125
                    }
                },
                "velocity": {
                    "x": 8.030595779418945,
                    "y": -0.04900883883237839,
                    "z": -0.03256000950932503
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -36.02406311035156,
                        "y": 4301.103515625,
                        "z": 372.5412292480469
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6196183562278748,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 372.9933776855469
                    },
                    "rotation": {
                        "roll": 0.00027860788395628333,
                        "pitch": -0.1978500783443451,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": -0.002130284672603011,
                    "y": -9.062005119631067e-05,
                    "z": -0.6196146607398987
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.415852546691895,
                "transform": {
                    "location": {
                        "x": -119.67093658447266,
                        "y": 4298.42529296875,
                        "z": 372.88037109375
                    },
                    "rotation": {
                        "roll": 0.0009197326144203544,
                        "pitch": -0.22672128677368164,
                        "yaw": -0.3463134467601776
                    }
                },
                "velocity": {
                    "x": 13.415505409240723,
                    "y": -0.08087761700153351,
                    "z": -0.05267087742686272
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400131225585938,
                "transform": {
                    "location": {
                        "x": -113.53491973876953,
                        "y": 4301.63720703125,
                        "z": 372.86029052734375
                    },
                    "rotation": {
                        "roll": 8.548922778572887e-05,
                        "pitch": -0.22616121172904968,
                        "yaw": -0.3288879096508026
                    }
                },
                "velocity": {
                    "x": 13.399802207946777,
                    "y": -0.07786263525485992,
                    "z": -0.05238344892859459
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.995841026306152,
                "transform": {
                    "location": {
                        "x": -37.48398208618164,
                        "y": 4297.9384765625,
                        "z": 372.5426330566406
                    },
                    "rotation": {
                        "roll": 0.0013413112610578537,
                        "pitch": -0.24691815674304962,
                        "yaw": -0.407196044921875
                    }
                },
                "velocity": {
                    "x": 6.995645999908447,
                    "y": -0.042847223579883575,
                    "z": -0.02985597960650921
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.906982898712158,
                "transform": {
                    "location": {
                        "x": -111.67765045166016,
                        "y": 4294.92529296875,
                        "z": 372.8429260253906
                    },
                    "rotation": {
                        "roll": -3.051761814276688e-05,
                        "pitch": 0.2155470997095108,
                        "yaw": 179.66180419921875
                    }
                },
                "velocity": {
                    "x": -7.90677547454834,
                    "y": 0.04671178758144379,
                    "z": 0.03316258266568184
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.053394317626953,
                "transform": {
                    "location": {
                        "x": -129.697021484375,
                        "y": 4295.03271484375,
                        "z": 372.92041015625
                    },
                    "rotation": {
                        "roll": -0.00018310542509425431,
                        "pitch": 0.25243011116981506,
                        "yaw": 179.66018676757812
                    }
                },
                "velocity": {
                    "x": -8.053186416625977,
                    "y": 0.0476769395172596,
                    "z": 0.03270930051803589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.44332414865493774,
                "transform": {
                    "location": {
                        "x": -164.39874267578125,
                        "y": 4301.8388671875,
                        "z": 373.05010986328125
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.15973079204559326,
                        "yaw": -0.3286437690258026
                    }
                },
                "velocity": {
                    "x": 0.35550656914711,
                    "y": 0.0017657253192737699,
                    "z": 0.26485520601272583
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.641551971435547,
                "transform": {
                    "location": {
                        "x": -64.47632598876953,
                        "y": 4294.66357421875,
                        "z": 372.65625
                    },
                    "rotation": {
                        "roll": 0.002010634634643793,
                        "pitch": 0.25526463985443115,
                        "yaw": 179.8513641357422
                    }
                },
                "velocity": {
                    "x": -8.641447067260742,
                    "y": 0.025449344888329506,
                    "z": 0.03411943465471268
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5448416471481323,
        "expert_target_speed": 1.795764799995791,
        "target_point": [
            54.91719008772798,
            2.34777775803472
        ],
        "target_point_next": [
            59.264513989598974,
            2.4970157509085618
        ]
    },
    "360": {
        "acceleration": [
            -1.8847453594207764,
            0.3017529845237732,
            -0.0035877246409654617
        ],
        "angular_velocity": [
            0.22779546678066254,
            0.36836308240890503,
            -3.11393666267395
        ],
        "forward_vector": [
            -0.9987197518348694,
            0.05027494579553604,
            0.005590766668319702
        ],
        "right_vector": [
            -0.0502781867980957,
            -0.9987351298332214,
            -0.0004410536785144359
        ],
        "location": [
            -106.68538665771484,
            4292.22705078125,
            372.8291015625
        ],
        "rotation": [
            0.025270909070968628,
            0.3203290104866028,
            177.11819458007812
        ],
        "velocity": [
            -0.8861994743347168,
            0.12687520682811737,
            0.0025871465913951397
        ],
        "speed": 0.8952356262006143,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030471801757812,
                "transform": {
                    "location": {
                        "x": -76.57687377929688,
                        "y": 4301.421875,
                        "z": 372.7073059082031
                    },
                    "rotation": {
                        "roll": -0.001251220703125,
                        "pitch": -0.23873558640480042,
                        "yaw": -0.36279296875
                    }
                },
                "velocity": {
                    "x": 8.030254364013672,
                    "y": -0.049032606184482574,
                    "z": -0.032891545444726944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029102325439453,
                "transform": {
                    "location": {
                        "x": -75.49359130859375,
                        "y": 4298.1650390625,
                        "z": 372.7412109375
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.36709585785865784
                    }
                },
                "velocity": {
                    "x": 8.028873443603516,
                    "y": -0.05103101208806038,
                    "z": -0.03284197300672531
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -33.94085693359375,
                        "y": 4301.08349609375,
                        "z": 372.5334167480469
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.22999195754528046,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 373.0149230957031
                    },
                    "rotation": {
                        "roll": 0.00016009830869734287,
                        "pitch": -0.19888143241405487,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 0.0008019679808057845,
                    "y": -0.00011304497456876561,
                    "z": 0.22999052703380585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.409098625183105,
                "transform": {
                    "location": {
                        "x": -116.31843566894531,
                        "y": 4298.40625,
                        "z": 372.8670959472656
                    },
                    "rotation": {
                        "roll": 0.00018739189545158297,
                        "pitch": -0.22659151256084442,
                        "yaw": -0.3464660346508026
                    }
                },
                "velocity": {
                    "x": 13.408748626708984,
                    "y": -0.08103446662425995,
                    "z": -0.053140535950660706
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400206565856934,
                "transform": {
                    "location": {
                        "x": -110.18538665771484,
                        "y": 4301.6181640625,
                        "z": 372.84698486328125
                    },
                    "rotation": {
                        "roll": 4.346036075730808e-05,
                        "pitch": -0.22802585363388062,
                        "yaw": -0.338836669921875
                    }
                },
                "velocity": {
                    "x": 13.399868965148926,
                    "y": -0.07922329753637314,
                    "z": -0.05275193229317665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -35.52296829223633,
                        "y": 4297.841796875,
                        "z": 372.54052734375
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078302383422852,
                "transform": {
                    "location": {
                        "x": -113.6703109741211,
                        "y": 4294.9375,
                        "z": 372.85076904296875
                    },
                    "rotation": {
                        "roll": 0.0001508272107457742,
                        "pitch": 0.2346511334180832,
                        "yaw": 179.6617889404297
                    }
                },
                "velocity": {
                    "x": -8.07809066772461,
                    "y": 0.04770391434431076,
                    "z": 0.03389620780944824
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.984769821166992,
                "transform": {
                    "location": {
                        "x": -131.69601440429688,
                        "y": 4295.04443359375,
                        "z": 372.9283752441406
                    },
                    "rotation": {
                        "roll": -0.00021362293045967817,
                        "pitch": 0.21124407649040222,
                        "yaw": 179.66018676757812
                    }
                },
                "velocity": {
                    "x": -7.98456335067749,
                    "y": 0.04733072593808174,
                    "z": 0.03253689780831337
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8333168029785156,
                "transform": {
                    "location": {
                        "x": -164.2188262939453,
                        "y": 4301.83935546875,
                        "z": 373.0712890625
                    },
                    "rotation": {
                        "roll": -0.004180907737463713,
                        "pitch": -0.056000716984272,
                        "yaw": -0.282989501953125
                    }
                },
                "velocity": {
                    "x": 0.8326528072357178,
                    "y": 0.00395527807995677,
                    "z": -0.03302470222115517
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.454658508300781,
                "transform": {
                    "location": {
                        "x": -66.74211120605469,
                        "y": 4294.67041015625,
                        "z": 372.66558837890625
                    },
                    "rotation": {
                        "roll": 0.0004431855049915612,
                        "pitch": 0.2547045648097992,
                        "yaw": 179.79458618164062
                    }
                },
                "velocity": {
                    "x": -9.45450496673584,
                    "y": 0.03829487785696983,
                    "z": 0.03794845566153526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5814382433891296,
        "expert_target_speed": 2.081111226545631,
        "target_point": [
            54.71285704733916,
            2.910650804101471
        ],
        "target_point_next": [
            59.05846502692056,
            3.103493678209836
        ]
    },
    "365": {
        "acceleration": [
            -2.3740577697753906,
            0.42569786310195923,
            0.002402300015091896
        ],
        "angular_velocity": [
            0.11165949702262878,
            0.22450166940689087,
            -5.961113929748535
        ],
        "forward_vector": [
            -0.9976043701171875,
            0.06872181594371796,
            0.007928050123155117
        ],
        "right_vector": [
            -0.06873416900634766,
            -0.9976341724395752,
            -0.00129641720559448
        ],
        "location": [
            -106.99718475341797,
            4292.2705078125,
            372.8297424316406
        ],
        "rotation": [
            0.07428158819675446,
            0.4542485475540161,
            176.05929565429688
        ],
        "velocity": [
            -1.5508739948272705,
            0.24719947576522827,
            0.006040029227733612
        ],
        "speed": 1.5704514410353796,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028655052185059,
                "transform": {
                    "location": {
                        "x": -74.56906127929688,
                        "y": 4301.40966796875,
                        "z": 372.6990051269531
                    },
                    "rotation": {
                        "roll": 0.0009632413275539875,
                        "pitch": -0.238803893327713,
                        "yaw": -0.34173583984375
                    }
                },
                "velocity": {
                    "x": 8.02843189239502,
                    "y": -0.04982384666800499,
                    "z": -0.033109817653894424
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031424522399902,
                "transform": {
                    "location": {
                        "x": -73.48577880859375,
                        "y": 4298.1533203125,
                        "z": 372.73291015625
                    },
                    "rotation": {
                        "roll": 8.359047933481634e-05,
                        "pitch": -0.23592838644981384,
                        "yaw": -0.337982177734375
                    }
                },
                "velocity": {
                    "x": 8.031206130981445,
                    "y": -0.049427274614572525,
                    "z": -0.032725267112255096
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -31.857656478881836,
                        "y": 4301.06103515625,
                        "z": 372.5258483886719
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6222190856933594,
                "transform": {
                    "location": {
                        "x": -53.146484375,
                        "y": 4294.68115234375,
                        "z": 372.96112060546875
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.23751981556415558,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -1.2967818975448608,
                    "y": 0.007664470933377743,
                    "z": -0.9746243953704834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.24029941856861115,
                "transform": {
                    "location": {
                        "x": -164.43389892578125,
                        "y": 4298.5888671875,
                        "z": 373.0446472167969
                    },
                    "rotation": {
                        "roll": -3.0517636332660913e-05,
                        "pitch": -0.19595128297805786,
                        "yaw": -0.3381957709789276
                    }
                },
                "velocity": {
                    "x": 0.2376490980386734,
                    "y": 0.0004421394842211157,
                    "z": 0.035588301718235016
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416520118713379,
                "transform": {
                    "location": {
                        "x": -112.96585845947266,
                        "y": 4298.38623046875,
                        "z": 372.85382080078125
                    },
                    "rotation": {
                        "roll": 0.0005337366019375622,
                        "pitch": -0.22668713331222534,
                        "yaw": -0.3500670790672302
                    }
                },
                "velocity": {
                    "x": 13.416165351867676,
                    "y": -0.08190246671438217,
                    "z": -0.05291342735290527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400217056274414,
                "transform": {
                    "location": {
                        "x": -106.83577728271484,
                        "y": 4301.59814453125,
                        "z": 372.8336181640625
                    },
                    "rotation": {
                        "roll": 0.0010552399326115847,
                        "pitch": -0.22866788506507874,
                        "yaw": -0.3338622748851776
                    }
                },
                "velocity": {
                    "x": 13.39987564086914,
                    "y": -0.07888109236955643,
                    "z": -0.05405670031905174
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -33.43976593017578,
                        "y": 4297.822265625,
                        "z": 372.53228759765625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.086217880249023,
                "transform": {
                    "location": {
                        "x": -115.69921875,
                        "y": 4294.94873046875,
                        "z": 372.85882568359375
                    },
                    "rotation": {
                        "roll": 0.001113870763219893,
                        "pitch": 0.22777996957302094,
                        "yaw": 179.65992736816406
                    }
                },
                "velocity": {
                    "x": -8.086000442504883,
                    "y": 0.049550555646419525,
                    "z": 0.03262412175536156
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.050252914428711,
                "transform": {
                    "location": {
                        "x": -133.70132446289062,
                        "y": 4295.05615234375,
                        "z": 372.93609619140625
                    },
                    "rotation": {
                        "roll": 0.0018552792025730014,
                        "pitch": 0.2415018081665039,
                        "yaw": 179.65365600585938
                    }
                },
                "velocity": {
                    "x": -8.050040245056152,
                    "y": 0.04874103516340256,
                    "z": 0.03237699344754219
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8447520732879639,
                "transform": {
                    "location": {
                        "x": -163.88546752929688,
                        "y": 4301.84033203125,
                        "z": 373.05584716796875
                    },
                    "rotation": {
                        "roll": -0.005401610862463713,
                        "pitch": -0.006959962192922831,
                        "yaw": -0.168365478515625
                    }
                },
                "velocity": {
                    "x": 1.843939185142517,
                    "y": 0.008806989528238773,
                    "z": -0.05404738336801529
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.248099327087402,
                "transform": {
                    "location": {
                        "x": -69.20757293701172,
                        "y": 4294.68115234375,
                        "z": 372.67572021484375
                    },
                    "rotation": {
                        "roll": 0.0014120866544544697,
                        "pitch": 0.2557564079761505,
                        "yaw": 179.7350311279297
                    }
                },
                "velocity": {
                    "x": -10.24790096282959,
                    "y": 0.048078153282403946,
                    "z": 0.04191756993532181
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6776134967803955,
        "expert_target_speed": 2.7532799010085682,
        "target_point": [
            54.33567667173059,
            3.943184753646044
        ],
        "target_point_next": [
            58.67697876115109,
            4.216302410872853
        ]
    },
    "370": {
        "acceleration": [
            -3.781561851501465,
            1.1097460985183716,
            0.029066838324069977
        ],
        "angular_velocity": [
            0.4124971330165863,
            0.34170398116111755,
            -8.458005905151367
        ],
        "forward_vector": [
            -0.9950664639472961,
            0.09875454753637314,
            0.009504531510174274
        ],
        "right_vector": [
            -0.09878052771091461,
            -0.99510657787323,
            -0.0023033663164824247
        ],
        "location": [
            -107.49468231201172,
            4292.35302734375,
            372.8313903808594
        ],
        "rotation": [
            0.13197925686836243,
            0.5445777773857117,
            174.33229064941406
        ],
        "velocity": [
            -2.3833189010620117,
            0.4585879147052765,
            0.010263185016810894
        ],
        "speed": 2.4270376716633737,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030080795288086,
                "transform": {
                    "location": {
                        "x": -72.56124877929688,
                        "y": 4301.3984375,
                        "z": 372.69073486328125
                    },
                    "rotation": {
                        "roll": 0.00043544734944589436,
                        "pitch": -0.2381277084350586,
                        "yaw": -0.3683776557445526
                    }
                },
                "velocity": {
                    "x": 8.029861450195312,
                    "y": -0.049751102924346924,
                    "z": -0.032390762120485306
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028903007507324,
                "transform": {
                    "location": {
                        "x": -71.47796630859375,
                        "y": 4298.1416015625,
                        "z": 372.7246398925781
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.23624257743358612,
                        "yaw": -0.3648986518383026
                    }
                },
                "velocity": {
                    "x": 8.02868366241455,
                    "y": -0.049528978765010834,
                    "z": -0.03268640860915184
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -29.774452209472656,
                        "y": 4301.04443359375,
                        "z": 372.51763916015625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3411775827407837,
                "transform": {
                    "location": {
                        "x": -53.46624755859375,
                        "y": 4294.681640625,
                        "z": 372.55859375
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": 0.2356073558330536,
                        "yaw": 179.70387268066406
                    }
                },
                "velocity": {
                    "x": -1.1976850032806396,
                    "y": -0.008196329697966576,
                    "z": -0.6035236716270447
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4108011722564697,
                "transform": {
                    "location": {
                        "x": -164.18968200683594,
                        "y": 4298.5888671875,
                        "z": 373.04541015625
                    },
                    "rotation": {
                        "roll": -0.00152587890625,
                        "pitch": -0.16382208466529846,
                        "yaw": -0.24209599196910858
                    }
                },
                "velocity": {
                    "x": 1.4107627868652344,
                    "y": 0.0060114432126283646,
                    "z": -0.008495654910802841
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.409783363342285,
                "transform": {
                    "location": {
                        "x": -109.61343383789062,
                        "y": 4298.36572265625,
                        "z": 372.8404846191406
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": -0.2286405712366104,
                        "yaw": -0.3540954887866974
                    }
                },
                "velocity": {
                    "x": 13.409424781799316,
                    "y": -0.08290833979845047,
                    "z": -0.05245502293109894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.017597198486328,
                "transform": {
                    "location": {
                        "x": -103.50999450683594,
                        "y": 4301.5791015625,
                        "z": 372.8203430175781
                    },
                    "rotation": {
                        "roll": 0.0005762840737588704,
                        "pitch": -0.27825507521629333,
                        "yaw": -0.3502807915210724
                    }
                },
                "velocity": {
                    "x": 13.017257690429688,
                    "y": -0.0781407579779625,
                    "z": -0.052240561693906784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -31.3565616607666,
                        "y": 4297.8037109375,
                        "z": 372.524169921875
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.978688716888428,
                "transform": {
                    "location": {
                        "x": -117.70085906982422,
                        "y": 4294.96044921875,
                        "z": 372.86676025390625
                    },
                    "rotation": {
                        "roll": 0.0001803391642170027,
                        "pitch": 0.22426241636276245,
                        "yaw": 179.65383911132812
                    }
                },
                "velocity": {
                    "x": -7.978475570678711,
                    "y": 0.04840705171227455,
                    "z": 0.03253880515694618
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027023315429688,
                "transform": {
                    "location": {
                        "x": -135.7125701904297,
                        "y": 4295.06787109375,
                        "z": 372.9439697265625
                    },
                    "rotation": {
                        "roll": 0.00029499910306185484,
                        "pitch": 0.22577188909053802,
                        "yaw": 179.6525421142578
                    }
                },
                "velocity": {
                    "x": -8.026812553405762,
                    "y": 0.04862349107861519,
                    "z": 0.03183725103735924
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.3652048110961914,
                "transform": {
                    "location": {
                        "x": -163.24038696289062,
                        "y": 4301.84228515625,
                        "z": 373.0478515625
                    },
                    "rotation": {
                        "roll": -0.008209228515625,
                        "pitch": 0.127355694770813,
                        "yaw": -0.0501708909869194
                    }
                },
                "velocity": {
                    "x": 3.365149974822998,
                    "y": 0.016709893941879272,
                    "z": -0.009537562727928162
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.140560150146484,
                "transform": {
                    "location": {
                        "x": -71.88484191894531,
                        "y": 4294.6943359375,
                        "z": 372.6867370605469
                    },
                    "rotation": {
                        "roll": 0.0005307034589350224,
                        "pitch": 0.2568082809448242,
                        "yaw": 179.7082977294922
                    }
                },
                "velocity": {
                    "x": -11.140317916870117,
                    "y": 0.05786319449543953,
                    "z": 0.045255307108163834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8324737548828125,
        "expert_target_speed": 3.6008679462886968,
        "target_point": [
            53.688943920033076,
            5.611906368067673
        ],
        "target_point_next": [
            58.02004303766085,
            6.015734945040421
        ]
    },
    "375": {
        "acceleration": [
            -4.969267845153809,
            1.6158616542816162,
            0.026497840881347656
        ],
        "angular_velocity": [
            0.3637678921222687,
            0.499303936958313,
            -11.538386344909668
        ],
        "forward_vector": [
            -0.9897615313529968,
            0.14224708080291748,
            0.011746017262339592
        ],
        "right_vector": [
            -0.14229875802993774,
            -0.9898169040679932,
            -0.0036841630935668945
        ],
        "location": [
            -108.23460388183594,
            4292.5009765625,
            372.83392333984375
        ],
        "rotation": [
            0.21110203862190247,
            0.6730126738548279,
            171.821533203125
        ],
        "velocity": [
            -3.520601987838745,
            0.8044847846031189,
            0.014103040099143982
        ],
        "speed": 3.6113479651554004,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029631614685059,
                "transform": {
                    "location": {
                        "x": -70.55343627929688,
                        "y": 4301.38623046875,
                        "z": 372.6824951171875
                    },
                    "rotation": {
                        "roll": 0.00029412005096673965,
                        "pitch": -0.23822332918643951,
                        "yaw": -0.341064453125
                    }
                },
                "velocity": {
                    "x": 8.029409408569336,
                    "y": -0.04968306049704552,
                    "z": -0.0330982431769371
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031352043151855,
                "transform": {
                    "location": {
                        "x": -69.47023010253906,
                        "y": 4298.12939453125,
                        "z": 372.71636962890625
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": -0.2363860011100769,
                        "yaw": -0.3392333686351776
                    }
                },
                "velocity": {
                    "x": 8.031129837036133,
                    "y": -0.049467332661151886,
                    "z": -0.03333129733800888
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -27.69124984741211,
                        "y": 4301.03125,
                        "z": 372.5090637207031
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2764114141464233,
                "transform": {
                    "location": {
                        "x": -53.77656173706055,
                        "y": 4294.6806640625,
                        "z": 372.58148193359375
                    },
                    "rotation": {
                        "roll": -0.0007934568566270173,
                        "pitch": 0.23616060614585876,
                        "yaw": 179.81588745117188
                    }
                },
                "velocity": {
                    "x": -1.255028486251831,
                    "y": -0.009150487370789051,
                    "z": 0.2324775904417038
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.002558708190918,
                "transform": {
                    "location": {
                        "x": -163.75390625,
                        "y": 4298.59033203125,
                        "z": 373.0433654785156
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.17507822811603546,
                        "yaw": -0.1516418308019638
                    }
                },
                "velocity": {
                    "x": 2.0025131702423096,
                    "y": 0.010447167791426182,
                    "z": -0.008529586717486382
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416873931884766,
                "transform": {
                    "location": {
                        "x": -106.26085662841797,
                        "y": 4298.3447265625,
                        "z": 372.82708740234375
                    },
                    "rotation": {
                        "roll": 8.130445348797366e-05,
                        "pitch": -0.22952166199684143,
                        "yaw": -0.3484801948070526
                    }
                },
                "velocity": {
                    "x": 13.416522026062012,
                    "y": -0.08140841126441956,
                    "z": -0.05314985662698746
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.177289009094238,
                "transform": {
                    "location": {
                        "x": -100.25890350341797,
                        "y": 4301.55908203125,
                        "z": 372.8072509765625
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.22595630586147308,
                        "yaw": -0.3392333686351776
                    }
                },
                "velocity": {
                    "x": 13.176944732666016,
                    "y": -0.078926220536232,
                    "z": -0.0534711629152298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3901,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -29.273359298706055,
                        "y": 4297.79052734375,
                        "z": 372.5155334472656
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.100987434387207,
                "transform": {
                    "location": {
                        "x": -119.71366882324219,
                        "y": 4294.97216796875,
                        "z": 372.8746337890625
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.23076476156711578,
                        "yaw": 179.6527862548828
                    }
                },
                "velocity": {
                    "x": -8.100770950317383,
                    "y": 0.0490911491215229,
                    "z": 0.03318529203534126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.992460250854492,
                "transform": {
                    "location": {
                        "x": -137.714599609375,
                        "y": 4295.07958984375,
                        "z": 372.9517822265625
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.22007551789283752,
                        "yaw": 179.65261840820312
                    }
                },
                "velocity": {
                    "x": -7.992259502410889,
                    "y": 0.04844124987721443,
                    "z": 0.029299840331077576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.373208045959473,
                "transform": {
                    "location": {
                        "x": -162.13046264648438,
                        "y": 4301.8466796875,
                        "z": 373.0449523925781
                    },
                    "rotation": {
                        "roll": -0.00927734375,
                        "pitch": 0.27457359433174133,
                        "yaw": 0.10599967837333679
                    }
                },
                "velocity": {
                    "x": 5.3731207847595215,
                    "y": 0.029603634029626846,
                    "z": -0.007791928946971893
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.03443431854248,
                "transform": {
                    "location": {
                        "x": -74.78499603271484,
                        "y": 4294.70947265625,
                        "z": 372.69866943359375
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.25758689641952515,
                        "yaw": 179.68487548828125
                    }
                },
                "velocity": {
                    "x": -12.03415298461914,
                    "y": 0.06582334637641907,
                    "z": 0.04936322942376137
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9995524883270264,
        "expert_target_speed": 4.755119844202238,
        "target_point": [
            52.63812056646474,
            7.999647649003371
        ],
        "target_point_next": [
            56.9473714631205,
            8.592820301750802
        ]
    },
    "380": {
        "acceleration": [
            -3.9316368103027344,
            1.4224791526794434,
            0.02341441810131073
        ],
        "angular_velocity": [
            -0.045010194182395935,
            -0.021565331146121025,
            -11.36790943145752
        ],
        "forward_vector": [
            -0.9811199307441711,
            0.19298529624938965,
            0.012663979083299637
        ],
        "right_vector": [
            -0.19305060803890228,
            -0.9811800718307495,
            -0.004143755417317152
        ],
        "location": [
            -109.26054382324219,
            4292.74267578125,
            372.8377990722656
        ],
        "rotation": [
            0.23743939399719238,
            0.7256119251251221,
            168.87203979492188
        ],
        "velocity": [
            -4.584734916687012,
            1.190765380859375,
            0.018064327538013458
        ],
        "speed": 4.736846677753275,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029260635375977,
                "transform": {
                    "location": {
                        "x": -68.54562377929688,
                        "y": 4301.375,
                        "z": 372.6742248535156
                    },
                    "rotation": {
                        "roll": 0.0009414313244633377,
                        "pitch": -0.2384282350540161,
                        "yaw": -0.36822509765625
                    }
                },
                "velocity": {
                    "x": 8.029037475585938,
                    "y": -0.04954535886645317,
                    "z": -0.03360946476459503
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029239654541016,
                "transform": {
                    "location": {
                        "x": -67.46241760253906,
                        "y": 4298.1181640625,
                        "z": 372.7081298828125
                    },
                    "rotation": {
                        "roll": 5.8099212765228e-05,
                        "pitch": -0.23715098202228546,
                        "yaw": -0.3597716689109802
                    }
                },
                "velocity": {
                    "x": 8.029022216796875,
                    "y": -0.04867937043309212,
                    "z": -0.03362993523478508
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7160309553146362,
                "transform": {
                    "location": {
                        "x": -54.092811584472656,
                        "y": 4294.6796875,
                        "z": 372.6121520996094
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.24101004004478455,
                        "yaw": 179.91441345214844
                    }
                },
                "velocity": {
                    "x": -1.7154346704483032,
                    "y": -0.012125427834689617,
                    "z": 0.04357677325606346
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.530491828918457,
                "transform": {
                    "location": {
                        "x": -163.18624877929688,
                        "y": 4298.59228515625,
                        "z": 373.0413513183594
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.18008476495742798,
                        "yaw": -0.023193359375
                    }
                },
                "velocity": {
                    "x": 2.5304365158081055,
                    "y": 0.013885801658034325,
                    "z": -0.009327697567641735
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.40990161895752,
                "transform": {
                    "location": {
                        "x": -102.90835571289062,
                        "y": 4298.32568359375,
                        "z": 372.8136901855469
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": -0.22930993139743805,
                        "yaw": -0.3448486030101776
                    }
                },
                "velocity": {
                    "x": 13.409552574157715,
                    "y": -0.08094163984060287,
                    "z": -0.05292268469929695
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.450983047485352,
                "transform": {
                    "location": {
                        "x": -97.01554107666016,
                        "y": 4301.5400390625,
                        "z": 372.7940979003906
                    },
                    "rotation": {
                        "roll": 0.00029643767629750073,
                        "pitch": -0.3197006583213806,
                        "yaw": -0.3428955376148224
                    }
                },
                "velocity": {
                    "x": 12.450658798217773,
                    "y": -0.07347321510314941,
                    "z": -0.051736440509557724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.006342887878418,
                "transform": {
                    "location": {
                        "x": -121.72718811035156,
                        "y": 4294.984375,
                        "z": 372.8825988769531
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.2255123406648636,
                        "yaw": 179.64837646484375
                    }
                },
                "velocity": {
                    "x": -8.006124496459961,
                    "y": 0.04918098449707031,
                    "z": 0.03285098820924759
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7126336097717285,
                "transform": {
                    "location": {
                        "x": -139.683349609375,
                        "y": 4295.09130859375,
                        "z": 372.9595642089844
                    },
                    "rotation": {
                        "roll": -6.103512714616954e-05,
                        "pitch": 0.1515618860721588,
                        "yaw": 179.65357971191406
                    }
                },
                "velocity": {
                    "x": -7.712435722351074,
                    "y": 0.0466400645673275,
                    "z": 0.029610851779580116
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.158108234405518,
                "transform": {
                    "location": {
                        "x": -160.74156188964844,
                        "y": 4301.85400390625,
                        "z": 373.04327392578125
                    },
                    "rotation": {
                        "roll": -0.007324219215661287,
                        "pitch": 0.027122680097818375,
                        "yaw": 0.24798798561096191
                    }
                },
                "velocity": {
                    "x": 6.157948017120361,
                    "y": 0.03879570960998535,
                    "z": -0.021551694720983505
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.580430030822754,
                "transform": {
                    "location": {
                        "x": -77.85968780517578,
                        "y": 4294.7265625,
                        "z": 372.7113952636719
                    },
                    "rotation": {
                        "roll": 0.001095905085094273,
                        "pitch": 0.25005319714546204,
                        "yaw": 179.6806182861328
                    }
                },
                "velocity": {
                    "x": -12.580134391784668,
                    "y": 0.06975588947534561,
                    "z": 0.05078261345624924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9996344447135925,
        "expert_target_speed": 5.820041001798706,
        "target_point": [
            51.10346377218439,
            10.73672735695456
        ],
        "target_point_next": [
            55.37648403418057,
            11.550849538734386
        ]
    },
    "385": {
        "acceleration": [
            0.7241916656494141,
            0.18175601959228516,
            -0.007954947650432587
        ],
        "angular_velocity": [
            -0.5183384418487549,
            -1.5080227851867676,
            -7.5841383934021
        ],
        "forward_vector": [
            -0.9728447794914246,
            0.2312612682580948,
            0.009557221084833145
        ],
        "right_vector": [
            -0.23129139840602875,
            -0.9728821516036987,
            -0.002162027871236205
        ],
        "location": [
            -110.48992156982422,
            4293.05810546875,
            372.8435974121094
        ],
        "rotation": [
            0.12388081848621368,
            0.5475967526435852,
            166.62803649902344
        ],
        "velocity": [
            -4.936262130737305,
            1.3301169872283936,
            0.020784368738532066
        ],
        "speed": 5.112327749965248,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030484199523926,
                "transform": {
                    "location": {
                        "x": -66.53781127929688,
                        "y": 4301.36279296875,
                        "z": 372.66595458984375
                    },
                    "rotation": {
                        "roll": 0.000311697309371084,
                        "pitch": -0.2381618469953537,
                        "yaw": -0.34283447265625
                    }
                },
                "velocity": {
                    "x": 8.03026008605957,
                    "y": -0.049999382346868515,
                    "z": -0.033029552549123764
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029661178588867,
                "transform": {
                    "location": {
                        "x": -65.45460510253906,
                        "y": 4298.10595703125,
                        "z": 372.6998596191406
                    },
                    "rotation": {
                        "roll": -0.00015258796338457614,
                        "pitch": -0.237034872174263,
                        "yaw": -0.337677001953125
                    }
                },
                "velocity": {
                    "x": 8.02944278717041,
                    "y": -0.049132753163576126,
                    "z": -0.03302700072526932
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.613407850265503,
                "transform": {
                    "location": {
                        "x": -54.82648468017578,
                        "y": 4294.67626953125,
                        "z": 372.6167907714844
                    },
                    "rotation": {
                        "roll": 0.00041885359678417444,
                        "pitch": 0.2765543460845947,
                        "yaw": -179.908935546875
                    }
                },
                "velocity": {
                    "x": -3.613286018371582,
                    "y": -0.027317380532622337,
                    "z": 0.011623668484389782
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1126835346221924,
                "transform": {
                    "location": {
                        "x": -162.47914123535156,
                        "y": 4298.5947265625,
                        "z": 373.0387878417969
                    },
                    "rotation": {
                        "roll": -0.0023803708609193563,
                        "pitch": -0.1792924553155899,
                        "yaw": 0.0962434932589531
                    }
                },
                "velocity": {
                    "x": 3.112614870071411,
                    "y": 0.01822679489850998,
                    "z": -0.009782304987311363
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416947364807129,
                "transform": {
                    "location": {
                        "x": -99.55577850341797,
                        "y": 4298.30615234375,
                        "z": 372.80023193359375
                    },
                    "rotation": {
                        "roll": 1.5920266378088854e-05,
                        "pitch": -0.23162536323070526,
                        "yaw": -0.34466552734375
                    }
                },
                "velocity": {
                    "x": 13.416601181030273,
                    "y": -0.08078072965145111,
                    "z": -0.052579473704099655
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.84220027923584,
                "transform": {
                    "location": {
                        "x": -94.02664184570312,
                        "y": 4301.52294921875,
                        "z": 372.7819519042969
                    },
                    "rotation": {
                        "roll": 0.0008708583191037178,
                        "pitch": -0.32504868507385254,
                        "yaw": -0.3373108208179474
                    }
                },
                "velocity": {
                    "x": 11.841886520385742,
                    "y": -0.07097296416759491,
                    "z": -0.0489671491086483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.071435928344727,
                "transform": {
                    "location": {
                        "x": -123.73546600341797,
                        "y": 4294.99560546875,
                        "z": 372.8905334472656
                    },
                    "rotation": {
                        "roll": -0.0011901851976290345,
                        "pitch": 0.22592899203300476,
                        "yaw": 179.65252685546875
                    }
                },
                "velocity": {
                    "x": -8.071218490600586,
                    "y": 0.04880980774760246,
                    "z": 0.03348132222890854
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.357387542724609,
                "transform": {
                    "location": {
                        "x": -141.55960083007812,
                        "y": 4295.10302734375,
                        "z": 372.966796875
                    },
                    "rotation": {
                        "roll": 0.0003657727502286434,
                        "pitch": 0.09209826588630676,
                        "yaw": 179.65284729003906
                    }
                },
                "velocity": {
                    "x": -7.357195854187012,
                    "y": 0.04451940953731537,
                    "z": 0.02898595668375492
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.558399200439453,
                "transform": {
                    "location": {
                        "x": -158.9601593017578,
                        "y": 4301.85986328125,
                        "z": 373.0357360839844
                    },
                    "rotation": {
                        "roll": 0.022782200947403908,
                        "pitch": 0.15298256278038025,
                        "yaw": -0.0751647874712944
                    }
                },
                "velocity": {
                    "x": 7.558345794677734,
                    "y": 0.003846081905066967,
                    "z": -0.02815810590982437
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.246662139892578,
                "transform": {
                    "location": {
                        "x": -81.09788513183594,
                        "y": 4294.74462890625,
                        "z": 372.7247619628906
                    },
                    "rotation": {
                        "roll": 0.0007405981887131929,
                        "pitch": 0.25284674763679504,
                        "yaw": 179.67315673828125
                    }
                },
                "velocity": {
                    "x": -13.246333122253418,
                    "y": 0.07631238549947739,
                    "z": 0.053752001374959946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0024243593215942,
        "expert_target_speed": 6.165038700391667,
        "target_point": [
            49.37488007866872,
            12.75200891423509
        ],
        "target_point_next": [
            53.61274660851794,
            13.73281692882285
        ]
    },
    "390": {
        "acceleration": [
            -6.696815490722656,
            1.1034965515136719,
            0.1171247661113739
        ],
        "angular_velocity": [
            -0.36941972374916077,
            1.3227182626724243,
            -0.06657874584197998
        ],
        "forward_vector": [
            -0.9691893458366394,
            0.24622705578804016,
            0.006653021089732647
        ],
        "right_vector": [
            -0.2462276667356491,
            -0.9692116975784302,
            0.0007382118492387235
        ],
        "location": [
            -111.7210922241211,
            4293.37841796875,
            372.8490905761719
        ],
        "rotation": [
            -0.0422973595559597,
            0.3811928331851959,
            165.7453155517578
        ],
        "velocity": [
            -5.252814292907715,
            1.3385382890701294,
            0.021411485970020294
        ],
        "speed": 5.420677332869239,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028693199157715,
                "transform": {
                    "location": {
                        "x": -64.52999877929688,
                        "y": 4301.35107421875,
                        "z": 372.6576843261719
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.369781494140625
                    }
                },
                "velocity": {
                    "x": 8.028471946716309,
                    "y": -0.04973611235618591,
                    "z": -0.032783374190330505
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028755187988281,
                "transform": {
                    "location": {
                        "x": -63.44679641723633,
                        "y": 4298.0947265625,
                        "z": 372.69158935546875
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": -0.2373080849647522,
                        "yaw": -0.3612365424633026
                    }
                },
                "velocity": {
                    "x": 8.02853775024414,
                    "y": -0.04900611937046051,
                    "z": -0.03306074067950249
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.437037944793701,
                "transform": {
                    "location": {
                        "x": -55.84109115600586,
                        "y": 4294.66943359375,
                        "z": 372.6204528808594
                    },
                    "rotation": {
                        "roll": 0.000939170946367085,
                        "pitch": 0.2602711617946625,
                        "yaw": -179.74249267578125
                    }
                },
                "velocity": {
                    "x": -4.43686056137085,
                    "y": -0.036237213760614395,
                    "z": 0.016211576759815216
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8222928047180176,
                "transform": {
                    "location": {
                        "x": -161.61328125,
                        "y": 4298.59912109375,
                        "z": 373.035888671875
                    },
                    "rotation": {
                        "roll": -0.003021240234375,
                        "pitch": -0.17468208074569702,
                        "yaw": 0.19929006695747375
                    }
                },
                "velocity": {
                    "x": 3.822199821472168,
                    "y": 0.023633882403373718,
                    "z": -0.012284373864531517
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.410017013549805,
                "transform": {
                    "location": {
                        "x": -96.20327758789062,
                        "y": 4298.28662109375,
                        "z": 372.78662109375
                    },
                    "rotation": {
                        "roll": 0.0004543396062217653,
                        "pitch": -0.2320556640625,
                        "yaw": -0.3446960747241974
                    }
                },
                "velocity": {
                    "x": 13.409669876098633,
                    "y": -0.08065540343523026,
                    "z": -0.05318697914481163
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.563562393188477,
                "transform": {
                    "location": {
                        "x": -90.98140716552734,
                        "y": 4301.5048828125,
                        "z": 372.7697448730469
                    },
                    "rotation": {
                        "roll": -3.051758903893642e-05,
                        "pitch": -0.16921792924404144,
                        "yaw": -0.337615966796875
                    }
                },
                "velocity": {
                    "x": 12.563241004943848,
                    "y": -0.07401613891124725,
                    "z": -0.05098159611225128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0242280960083,
                "transform": {
                    "location": {
                        "x": -125.74827575683594,
                        "y": 4295.00732421875,
                        "z": 372.89837646484375
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": 0.2260587513446808,
                        "yaw": 179.65357971191406
                    }
                },
                "velocity": {
                    "x": -8.024014472961426,
                    "y": 0.0486302375793457,
                    "z": 0.03242858871817589
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.2036237716674805,
                "transform": {
                    "location": {
                        "x": -143.37960815429688,
                        "y": 4295.1142578125,
                        "z": 372.97357177734375
                    },
                    "rotation": {
                        "roll": -0.0012512208195403218,
                        "pitch": 0.12051185220479965,
                        "yaw": 179.65809631347656
                    }
                },
                "velocity": {
                    "x": -7.2034478187561035,
                    "y": 0.041866861283779144,
                    "z": 0.02799638733267784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.320709228515625,
                "transform": {
                    "location": {
                        "x": -156.8566436767578,
                        "y": 4301.859375,
                        "z": 373.028076171875
                    },
                    "rotation": {
                        "roll": 0.006608320400118828,
                        "pitch": 0.15434861183166504,
                        "yaw": -0.0881347581744194
                    }
                },
                "velocity": {
                    "x": 9.320647239685059,
                    "y": -0.006121699698269367,
                    "z": -0.0334782749414444
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.59931755065918,
                "transform": {
                    "location": {
                        "x": -84.36257934570312,
                        "y": 4294.763671875,
                        "z": 372.7383117675781
                    },
                    "rotation": {
                        "roll": -0.00024414047948084772,
                        "pitch": 0.22439901530742645,
                        "yaw": 179.6690673828125
                    }
                },
                "velocity": {
                    "x": -12.599003791809082,
                    "y": 0.07253819704055786,
                    "z": 0.05145827308297157
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0002737045288086,
        "expert_target_speed": 6.443692647638233,
        "target_point": [
            47.90042763001103,
            13.518461497474263
        ],
        "target_point_next": [
            52.12268088482211,
            14.56444167822967
        ]
    },
    "395": {
        "acceleration": [
            0.596923828125,
            -0.3724050521850586,
            -0.010296627879142761
        ],
        "angular_velocity": [
            -0.2172798067331314,
            -0.45306631922721863,
            2.1502902507781982
        ],
        "forward_vector": [
            -0.9708012938499451,
            0.2398330420255661,
            0.004992583300918341
        ],
        "right_vector": [
            -0.23982477188110352,
            -0.9708136320114136,
            0.0022029378451406956
        ],
        "location": [
            -113.01101684570312,
            4293.6962890625,
            372.8545227050781
        ],
        "rotation": [
            -0.1262207180261612,
            0.28605514764785767,
            166.12313842773438
        ],
        "velocity": [
            -5.111077308654785,
            1.2192184925079346,
            0.021151427179574966
        ],
        "speed": 5.25448427417184,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.807330131530762,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -127.7590560913086,
                4295.01904296875,
                372.9062805175781
            ],
            "velocity": [
                -8.065630912780762,
                0.05053672567009926,
                0.03207210451364517
            ],
            "speed_kmh": 29.03707079645729,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031255722045898,
                "transform": {
                    "location": {
                        "x": -62.522186279296875,
                        "y": 4301.33935546875,
                        "z": 372.6494140625
                    },
                    "rotation": {
                        "roll": 0.0005788893322460353,
                        "pitch": -0.2387697398662567,
                        "yaw": -0.341796875
                    }
                },
                "velocity": {
                    "x": 8.031033515930176,
                    "y": -0.04984312504529953,
                    "z": -0.03305461257696152
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031007766723633,
                "transform": {
                    "location": {
                        "x": -61.43898391723633,
                        "y": 4298.08251953125,
                        "z": 372.6833190917969
                    },
                    "rotation": {
                        "roll": 0.00028709511389024556,
                        "pitch": -0.23770423233509064,
                        "yaw": -0.336181640625
                    }
                },
                "velocity": {
                    "x": 8.030792236328125,
                    "y": -0.04887787625193596,
                    "z": -0.03287485986948013
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.209543704986572,
                "transform": {
                    "location": {
                        "x": -57.051795959472656,
                        "y": 4294.666015625,
                        "z": 372.6255798339844
                    },
                    "rotation": {
                        "roll": 0.0028722218703478575,
                        "pitch": 0.2564121186733246,
                        "yaw": -179.8094024658203
                    }
                },
                "velocity": {
                    "x": -5.209480285644531,
                    "y": -0.008209975436329842,
                    "z": 0.024402836337685585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.741193771362305,
                "transform": {
                    "location": {
                        "x": -160.54147338867188,
                        "y": 4298.60498046875,
                        "z": 373.0321044921875
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.16830268502235413,
                        "yaw": 0.2656121253967285
                    }
                },
                "velocity": {
                    "x": 4.741147041320801,
                    "y": 0.013983638025820255,
                    "z": -0.01566888764500618
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.41701889038086,
                "transform": {
                    "location": {
                        "x": -92.85070037841797,
                        "y": 4298.2666015625,
                        "z": 372.7730407714844
                    },
                    "rotation": {
                        "roll": 6.864991883048788e-05,
                        "pitch": -0.23184393346309662,
                        "yaw": -0.344696044921875
                    }
                },
                "velocity": {
                    "x": 13.416669845581055,
                    "y": -0.08073006570339203,
                    "z": -0.053293731063604355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.048954010009766,
                "transform": {
                    "location": {
                        "x": -87.85796356201172,
                        "y": 4301.48681640625,
                        "z": 372.7568664550781
                    },
                    "rotation": {
                        "roll": 0.0006733809132128954,
                        "pitch": -0.28326159715652466,
                        "yaw": -0.333526611328125
                    }
                },
                "velocity": {
                    "x": 12.0486421585083,
                    "y": -0.07113851606845856,
                    "z": -0.049334559589624405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.065853118896484,
                "transform": {
                    "location": {
                        "x": -127.7590560913086,
                        "y": 4295.01904296875,
                        "z": 372.9062805175781
                    },
                    "rotation": {
                        "roll": 0.00013310038775671273,
                        "pitch": 0.22564895451068878,
                        "yaw": 179.65170288085938
                    }
                },
                "velocity": {
                    "x": -8.065630912780762,
                    "y": 0.05053672567009926,
                    "z": 0.03207210451364517
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.906391620635986,
                "transform": {
                    "location": {
                        "x": -145.1433563232422,
                        "y": 4295.12451171875,
                        "z": 372.9802551269531
                    },
                    "rotation": {
                        "roll": 0.00020781709463335574,
                        "pitch": 0.10758913308382034,
                        "yaw": 179.66372680664062
                    }
                },
                "velocity": {
                    "x": -6.906228065490723,
                    "y": 0.04045707732439041,
                    "z": 0.02493021823465824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.21345329284668,
                "transform": {
                    "location": {
                        "x": -154.36288452148438,
                        "y": 4301.8564453125,
                        "z": 373.0198669433594
                    },
                    "rotation": {
                        "roll": 0.005533216055482626,
                        "pitch": 0.08030936121940613,
                        "yaw": -0.0511169396340847
                    }
                },
                "velocity": {
                    "x": 10.213372230529785,
                    "y": -0.018453821539878845,
                    "z": -0.036353472620248795
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.15852165222168,
                "transform": {
                    "location": {
                        "x": -87.34367370605469,
                        "y": 4294.78125,
                        "z": 372.7507019042969
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.20500127971172333,
                        "yaw": 179.6584930419922
                    }
                },
                "velocity": {
                    "x": -11.158221244812012,
                    "y": 0.06741058081388474,
                    "z": 0.04647672548890114
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0018730163574219,
        "expert_target_speed": 6.291864167907414,
        "target_point": [
            46.660021969867465,
            13.201507184420707
        ],
        "target_point_next": [
            50.88908124460546,
            14.219620506722519
        ]
    },
    "400": {
        "acceleration": [
            -0.4328346252441406,
            -0.41396379470825195,
            0.016766749322414398
        ],
        "angular_velocity": [
            -0.19725753366947174,
            0.030897052958607674,
            3.2546656131744385
        ],
        "forward_vector": [
            -0.9735274314880371,
            0.2285279482603073,
            0.004390344955027103
        ],
        "right_vector": [
            -0.2285177856683731,
            -0.9735360145568848,
            0.0026993504725396633
        ],
        "location": [
            -114.2973403930664,
            4293.99462890625,
            372.8597717285156
        ],
        "rotation": [
            -0.1546630710363388,
            0.25154903531074524,
            166.78944396972656
        ],
        "velocity": [
            -5.178317546844482,
            1.146553874015808,
            0.02159873954951763
        ],
        "speed": 5.303730611746614,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 15.495905876159668,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -129.75843811035156,
                4295.03125,
                372.9142150878906
            ],
            "velocity": [
                -7.832365036010742,
                0.048449061810970306,
                0.03161610662937164
            ],
            "speed_kmh": 28.197283286773846,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027813911437988,
                "transform": {
                    "location": {
                        "x": -60.514373779296875,
                        "y": 4301.32763671875,
                        "z": 372.6410827636719
                    },
                    "rotation": {
                        "roll": 0.0013930520508438349,
                        "pitch": -0.23995819687843323,
                        "yaw": -0.3715514838695526
                    }
                },
                "velocity": {
                    "x": 8.02757740020752,
                    "y": -0.05212198942899704,
                    "z": -0.0329153910279274
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029292106628418,
                "transform": {
                    "location": {
                        "x": -59.43117141723633,
                        "y": 4298.07080078125,
                        "z": 372.67498779296875
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": -0.23767007887363434,
                        "yaw": -0.3646545112133026
                    }
                },
                "velocity": {
                    "x": 8.029070854187012,
                    "y": -0.0496506541967392,
                    "z": -0.03291452303528786
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.777904033660889,
                "transform": {
                    "location": {
                        "x": -58.397186279296875,
                        "y": 4294.6630859375,
                        "z": 372.6312561035156
                    },
                    "rotation": {
                        "roll": 0.0021685012616217136,
                        "pitch": 0.25106409192085266,
                        "yaw": -179.88304138183594
                    }
                },
                "velocity": {
                    "x": -5.777854919433594,
                    "y": -0.007594130467623472,
                    "z": 0.02258538268506527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.368877410888672,
                "transform": {
                    "location": {
                        "x": -159.25,
                        "y": 4298.60888671875,
                        "z": 373.0279541015625
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": -0.1737395077943802,
                        "yaw": 0.03811877220869064
                    }
                },
                "velocity": {
                    "x": 5.368844985961914,
                    "y": 0.0029671716038137674,
                    "z": -0.018310127779841423
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.363229751586914,
                "transform": {
                    "location": {
                        "x": -89.49898529052734,
                        "y": 4298.24755859375,
                        "z": 372.7593994140625
                    },
                    "rotation": {
                        "roll": -3.0517505365423858e-05,
                        "pitch": -0.2361128032207489,
                        "yaw": -0.3488464057445526
                    }
                },
                "velocity": {
                    "x": 13.362876892089844,
                    "y": -0.08123317360877991,
                    "z": -0.05333194136619568
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.358442306518555,
                "transform": {
                    "location": {
                        "x": -85.02570343017578,
                        "y": 4301.4697265625,
                        "z": 372.7450256347656
                    },
                    "rotation": {
                        "roll": 0.000977198127657175,
                        "pitch": -0.4571513533592224,
                        "yaw": -0.3547057807445526
                    }
                },
                "velocity": {
                    "x": 10.358166694641113,
                    "y": -0.06198585778474808,
                    "z": -0.04312533140182495
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.832578659057617,
                "transform": {
                    "location": {
                        "x": -129.75843811035156,
                        "y": 4295.03125,
                        "z": 372.9142150878906
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": 0.21638721227645874,
                        "yaw": 179.6453094482422
                    }
                },
                "velocity": {
                    "x": -7.832365036010742,
                    "y": 0.048449061810970306,
                    "z": 0.03161610662937164
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.680113315582275,
                "transform": {
                    "location": {
                        "x": -146.83836364746094,
                        "y": 4295.1337890625,
                        "z": 372.98651123046875
                    },
                    "rotation": {
                        "roll": 0.00012025370233459398,
                        "pitch": 0.10586792975664139,
                        "yaw": 179.66384887695312
                    }
                },
                "velocity": {
                    "x": -6.679952144622803,
                    "y": 0.03918422758579254,
                    "z": 0.024951504543423653
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.346096992492676,
                "transform": {
                    "location": {
                        "x": -151.66030883789062,
                        "y": 4301.8505859375,
                        "z": 373.0108947753906
                    },
                    "rotation": {
                        "roll": 0.010414033196866512,
                        "pitch": -0.009459811262786388,
                        "yaw": -0.1455078125
                    }
                },
                "velocity": {
                    "x": 11.345973014831543,
                    "y": -0.03363560512661934,
                    "z": -0.04103961959481239
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.214348793029785,
                "transform": {
                    "location": {
                        "x": -89.97218322753906,
                        "y": 4294.796875,
                        "z": 372.7615051269531
                    },
                    "rotation": {
                        "roll": 0.00020458818471524864,
                        "pitch": 0.20993950963020325,
                        "yaw": 179.65187072753906
                    }
                },
                "velocity": {
                    "x": -10.214072227478027,
                    "y": 0.0627855584025383,
                    "z": 0.04135432094335556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7764291763305664,
        "expert_target_speed": 6.3350985744741095,
        "target_point": [
            45.48992218664128,
            12.65449445227877
        ],
        "target_point_next": [
            49.730534983391046,
            13.623359868287645
        ]
    },
    "405": {
        "acceleration": [
            -3.1165218353271484,
            0.0006055831909179688,
            0.01478787511587143
        ],
        "angular_velocity": [
            -0.02906504087150097,
            0.4606429934501648,
            5.814030647277832
        ],
        "forward_vector": [
            -0.9780834317207336,
            0.20800010859966278,
            0.009415010921657085
        ],
        "right_vector": [
            -0.2079683244228363,
            -0.9781263470649719,
            0.0042486051097512245
        ],
        "location": [
            -115.76445007324219,
            4294.30126953125,
            372.8644714355469
        ],
        "rotation": [
            -0.24343866109848022,
            0.5394483208656311,
            167.99427795410156
        ],
        "velocity": [
            -6.360922336578369,
            1.2343538999557495,
            0.025255946442484856
        ],
        "speed": 6.479580427953463,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 15.935342788696289,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -131.6824188232422,
                4295.04296875,
                372.9217834472656
            ],
            "velocity": [
                -7.780911922454834,
                0.04808461666107178,
                0.02947176806628704
            ],
            "speed_kmh": 28.0120187231074,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030696868896484,
                "transform": {
                    "location": {
                        "x": -58.506874084472656,
                        "y": 4301.3154296875,
                        "z": 372.63275146484375
                    },
                    "rotation": {
                        "roll": 0.0009112471016123891,
                        "pitch": -0.2393161505460739,
                        "yaw": -0.34564208984375
                    }
                },
                "velocity": {
                    "x": 8.03046989440918,
                    "y": -0.05037140101194382,
                    "z": -0.03325508162379265
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031514167785645,
                "transform": {
                    "location": {
                        "x": -57.42335891723633,
                        "y": 4298.05908203125,
                        "z": 372.6666564941406
                    },
                    "rotation": {
                        "roll": -0.0016784666804596782,
                        "pitch": -0.23745834827423096,
                        "yaw": -0.3365478515625
                    }
                },
                "velocity": {
                    "x": 8.0313081741333,
                    "y": -0.047647133469581604,
                    "z": -0.032241106033325195
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.564249515533447,
                "transform": {
                    "location": {
                        "x": -59.94304656982422,
                        "y": 4294.66064453125,
                        "z": 372.6375732421875
                    },
                    "rotation": {
                        "roll": 0.0010448097018525004,
                        "pitch": 0.2536868751049042,
                        "yaw": -179.9346923828125
                    }
                },
                "velocity": {
                    "x": -6.564192771911621,
                    "y": -0.006141385529190302,
                    "z": 0.026546934619545937
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.0056891441345215,
                "transform": {
                    "location": {
                        "x": -157.8434295654297,
                        "y": 4298.6103515625,
                        "z": 373.0230407714844
                    },
                    "rotation": {
                        "roll": 0.00028671816107816994,
                        "pitch": -0.18209967017173767,
                        "yaw": -0.104827880859375
                    }
                },
                "velocity": {
                    "x": 6.005650997161865,
                    "y": -0.000991852837614715,
                    "z": -0.021391205489635468
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.356376647949219,
                "transform": {
                    "location": {
                        "x": -86.2867202758789,
                        "y": 4298.22802734375,
                        "z": 372.74652099609375
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.2547933757305145,
                        "yaw": -0.3518371880054474
                    }
                },
                "velocity": {
                    "x": 12.356040000915527,
                    "y": -0.07479849457740784,
                    "z": -0.05215437710285187
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.543169021606445,
                "transform": {
                    "location": {
                        "x": -82.69281005859375,
                        "y": 4301.45556640625,
                        "z": 372.7353820800781
                    },
                    "rotation": {
                        "roll": 0.000775132910348475,
                        "pitch": -0.5136643648147583,
                        "yaw": -0.3464354872703552
                    }
                },
                "velocity": {
                    "x": 8.542935371398926,
                    "y": -0.05230477824807167,
                    "z": -0.03547501936554909
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.781116485595703,
                "transform": {
                    "location": {
                        "x": -131.6824188232422,
                        "y": 4295.04296875,
                        "z": 372.9217834472656
                    },
                    "rotation": {
                        "roll": 0.0005738090258091688,
                        "pitch": 0.21799913048744202,
                        "yaw": 179.64523315429688
                    }
                },
                "velocity": {
                    "x": -7.780911922454834,
                    "y": 0.04808461666107178,
                    "z": 0.02947176806628704
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.45975399017334,
                "transform": {
                    "location": {
                        "x": -148.48062133789062,
                        "y": 4295.1435546875,
                        "z": 372.9925842285156
                    },
                    "rotation": {
                        "roll": 0.00032048660796135664,
                        "pitch": 0.11960343271493912,
                        "yaw": 179.65899658203125
                    }
                },
                "velocity": {
                    "x": -6.459593772888184,
                    "y": 0.03852463513612747,
                    "z": 0.024161051958799362
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.276474952697754,
                "transform": {
                    "location": {
                        "x": -148.701171875,
                        "y": 4301.84033203125,
                        "z": 373.0000305175781
                    },
                    "rotation": {
                        "roll": 0.010953715071082115,
                        "pitch": 0.00706241512671113,
                        "yaw": -0.2410888820886612
                    }
                },
                "velocity": {
                    "x": 12.276276588439941,
                    "y": -0.05354192107915878,
                    "z": -0.04475177824497223
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.53783130645752,
                "transform": {
                    "location": {
                        "x": -92.55843353271484,
                        "y": 4294.8125,
                        "z": 372.77178955078125
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.6486358642578
                    }
                },
                "velocity": {
                    "x": -10.537550926208496,
                    "y": 0.06452234834432602,
                    "z": 0.04166562855243683
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5036267638206482,
        "expert_target_speed": 7.358308943376079,
        "target_point": [
            44.24714138101087,
            11.689964823833657
        ],
        "target_point_next": [
            48.507188499407555,
            12.569450830166872
        ]
    },
    "410": {
        "acceleration": [
            -2.7379608154296875,
            -0.8204531669616699,
            0.00217437744140625
        ],
        "angular_velocity": [
            -0.5507904887199402,
            -0.06083044782280922,
            8.872358322143555
        ],
        "forward_vector": [
            -0.9843409061431885,
            0.17602193355560303,
            0.009446479380130768
        ],
        "right_vector": [
            -0.17596860229969025,
            -0.9843761324882507,
            0.006214434746652842
        ],
        "location": [
            -117.4476547241211,
            4294.60009765625,
            372.8712463378906
        ],
        "rotation": [
            -0.3560790717601776,
            0.5412514805793762,
            169.8614044189453
        ],
        "velocity": [
            -7.052872657775879,
            1.0926419496536255,
            0.02581251971423626
        ],
        "speed": 7.137007717310208,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.215150833129883,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -133.6563262939453,
                4295.0546875,
                372.9294128417969
            ],
            "velocity": [
                -7.641904830932617,
                0.047341056168079376,
                0.029828928411006927
            ],
            "speed_kmh": 27.511594853759078,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029571533203125,
                "transform": {
                    "location": {
                        "x": -56.499061584472656,
                        "y": 4301.3037109375,
                        "z": 372.62445068359375
                    },
                    "rotation": {
                        "roll": 0.00047606852604076266,
                        "pitch": -0.23937763273715973,
                        "yaw": -0.3713378608226776
                    }
                },
                "velocity": {
                    "x": 8.02934455871582,
                    "y": -0.05012064427137375,
                    "z": -0.03357547149062157
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029038429260254,
                "transform": {
                    "location": {
                        "x": -55.41554641723633,
                        "y": 4298.046875,
                        "z": 372.65838623046875
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": -0.23745834827423096,
                        "yaw": -0.3705749213695526
                    }
                },
                "velocity": {
                    "x": 8.028815269470215,
                    "y": -0.049971044063568115,
                    "z": -0.0328885056078434
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.642755031585693,
                "transform": {
                    "location": {
                        "x": -61.73406219482422,
                        "y": 4294.65966796875,
                        "z": 372.6449279785156
                    },
                    "rotation": {
                        "roll": 0.0029417749028652906,
                        "pitch": 0.26115909218788147,
                        "yaw": -179.97775268554688
                    }
                },
                "velocity": {
                    "x": -7.642691612243652,
                    "y": 0.007851001806557178,
                    "z": 0.030161045491695404
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.182217597961426,
                "transform": {
                    "location": {
                        "x": -156.19171142578125,
                        "y": 4298.60986328125,
                        "z": 373.0170593261719
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.1688559204339981,
                        "yaw": -0.1342467963695526
                    }
                },
                "velocity": {
                    "x": 7.182172775268555,
                    "y": -0.004350331611931324,
                    "z": -0.025027388706803322
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.573037147521973,
                "transform": {
                    "location": {
                        "x": -83.19437408447266,
                        "y": 4298.20849609375,
                        "z": 372.73358154296875
                    },
                    "rotation": {
                        "roll": -6.103516352595761e-05,
                        "pitch": -0.2346784621477127,
                        "yaw": -0.3493347465991974
                    }
                },
                "velocity": {
                    "x": 12.572694778442383,
                    "y": -0.07669363915920258,
                    "z": -0.05231323093175888
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.426192283630371,
                "transform": {
                    "location": {
                        "x": -80.60804748535156,
                        "y": 4301.44287109375,
                        "z": 372.7270202636719
                    },
                    "rotation": {
                        "roll": -0.00015258796338457614,
                        "pitch": -0.3220843970775604,
                        "yaw": -0.3584899604320526
                    }
                },
                "velocity": {
                    "x": 8.425972938537598,
                    "y": -0.05062635615468025,
                    "z": -0.033557161688804626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.6421098709106445,
                "transform": {
                    "location": {
                        "x": -133.6563262939453,
                        "y": 4295.0546875,
                        "z": 372.9294128417969
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": 0.21668091416358948,
                        "yaw": 179.64480590820312
                    }
                },
                "velocity": {
                    "x": -7.641904830932617,
                    "y": 0.047341056168079376,
                    "z": 0.029828928411006927
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.240105152130127,
                "transform": {
                    "location": {
                        "x": -150.06703186035156,
                        "y": 4295.1533203125,
                        "z": 372.9984436035156
                    },
                    "rotation": {
                        "roll": 0.0002844440459739417,
                        "pitch": 0.11120913177728653,
                        "yaw": 179.65863037109375
                    }
                },
                "velocity": {
                    "x": -6.23995304107666,
                    "y": 0.0372060127556324,
                    "z": 0.02269705757498741
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.174568176269531,
                "transform": {
                    "location": {
                        "x": -145.51499938964844,
                        "y": 4301.82568359375,
                        "z": 372.98828125
                    },
                    "rotation": {
                        "roll": 0.007962992414832115,
                        "pitch": -0.008421623148024082,
                        "yaw": -0.3065795302391052
                    }
                },
                "velocity": {
                    "x": 13.174296379089355,
                    "y": -0.06864365190267563,
                    "z": -0.049384500831365585
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.645564079284668,
                "transform": {
                    "location": {
                        "x": -95.10101318359375,
                        "y": 4294.828125,
                        "z": 372.7821350097656
                    },
                    "rotation": {
                        "roll": -0.00042724612285383046,
                        "pitch": 0.21641452610492706,
                        "yaw": 179.6483917236328
                    }
                },
                "velocity": {
                    "x": -9.64529800415039,
                    "y": 0.05916457995772362,
                    "z": 0.04030845686793327
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22284792363643646,
        "expert_target_speed": 7.898936337335646,
        "target_point": [
            42.89500524490422,
            10.239976931375441
        ],
        "target_point_next": [
            47.181445794060146,
            10.980196158934177
        ]
    },
    "415": {
        "acceleration": [
            -1.8149566650390625,
            -1.062164306640625,
            -0.008463487029075623
        ],
        "angular_velocity": [
            -0.34078115224838257,
            -0.16003544628620148,
            10.405496597290039
        ],
        "forward_vector": [
            -0.9909054040908813,
            0.13428376615047455,
            0.008627545088529587
        ],
        "right_vector": [
            -0.13421644270420074,
            -0.9909200668334961,
            0.00796034187078476
        ],
        "location": [
            -119.28108978271484,
            4294.85107421875,
            372.8785705566406
        ],
        "rotation": [
            -0.4561157524585724,
            0.4943280816078186,
            172.28250122070312
        ],
        "velocity": [
            -7.595256328582764,
            0.8467090129852295,
            0.02927245944738388
        ],
        "speed": 7.64230559775955,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.129024505615234,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -135.40858459472656,
                4295.0654296875,
                372.9366455078125
            ],
            "velocity": [
                -6.408664226531982,
                0.038142234086990356,
                0.025065049529075623
            ],
            "speed_kmh": 23.071776284171776,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030156135559082,
                "transform": {
                    "location": {
                        "x": -54.491249084472656,
                        "y": 4301.2919921875,
                        "z": 372.6162109375
                    },
                    "rotation": {
                        "roll": 0.001315384404733777,
                        "pitch": -0.2401699274778366,
                        "yaw": -0.3427734375
                    }
                },
                "velocity": {
                    "x": 8.02993392944336,
                    "y": -0.04992194101214409,
                    "z": -0.032928381115198135
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03121280670166,
                "transform": {
                    "location": {
                        "x": -53.40773391723633,
                        "y": 4298.03466796875,
                        "z": 372.6500549316406
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": -0.23733539879322052,
                        "yaw": -0.3416137397289276
                    }
                },
                "velocity": {
                    "x": 8.03100299835205,
                    "y": -0.04785291478037834,
                    "z": -0.03283136337995529
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.40249252319336,
                "transform": {
                    "location": {
                        "x": -63.7447624206543,
                        "y": 4294.66259765625,
                        "z": 372.6532287597656
                    },
                    "rotation": {
                        "roll": 0.0033103665336966515,
                        "pitch": 0.25646674633026123,
                        "yaw": 179.8968963623047
                    }
                },
                "velocity": {
                    "x": -8.402395248413086,
                    "y": 0.02131345309317112,
                    "z": 0.03426889330148697
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.04472541809082,
                "transform": {
                    "location": {
                        "x": -154.29249572753906,
                        "y": 4298.60693359375,
                        "z": 373.01031494140625
                    },
                    "rotation": {
                        "roll": 0.001182026113383472,
                        "pitch": -0.1795656681060791,
                        "yaw": -0.06332395225763321
                    }
                },
                "velocity": {
                    "x": 8.044657707214355,
                    "y": -0.016912739723920822,
                    "z": -0.028614316135644913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.987568855285645,
                "transform": {
                    "location": {
                        "x": -80.08257293701172,
                        "y": 4298.189453125,
                        "z": 372.7208251953125
                    },
                    "rotation": {
                        "roll": 0.00018829973123501986,
                        "pitch": -0.24691815674304962,
                        "yaw": -0.3490600287914276
                    }
                },
                "velocity": {
                    "x": 11.98724365234375,
                    "y": -0.07305342704057693,
                    "z": -0.04939534142613411
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.41539192199707,
                "transform": {
                    "location": {
                        "x": -78.38187408447266,
                        "y": 4301.42919921875,
                        "z": 372.7181091308594
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.1377580761909485,
                        "yaw": -0.32379150390625
                    }
                },
                "velocity": {
                    "x": 9.415159225463867,
                    "y": -0.0541684627532959,
                    "z": -0.03804885223507881
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.40882682800293,
                "transform": {
                    "location": {
                        "x": -135.40858459472656,
                        "y": 4295.0654296875,
                        "z": 372.9366455078125
                    },
                    "rotation": {
                        "roll": 5.7713146816240624e-05,
                        "pitch": 0.15332408249378204,
                        "yaw": 179.64662170410156
                    }
                },
                "velocity": {
                    "x": -6.408664226531982,
                    "y": 0.038142234086990356,
                    "z": 0.025065049529075623
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.010345458984375,
                "transform": {
                    "location": {
                        "x": -151.59608459472656,
                        "y": 4295.1630859375,
                        "z": 373.0039367675781
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.11101789027452469,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -6.010201454162598,
                    "y": 0.035515181720256805,
                    "z": 0.02167784608900547
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.629343032836914,
                "transform": {
                    "location": {
                        "x": -142.14578247070312,
                        "y": 4301.80712890625,
                        "z": 372.9761657714844
                    },
                    "rotation": {
                        "roll": 0.00430721789598465,
                        "pitch": -0.08364932239055634,
                        "yaw": -0.3384399712085724
                    }
                },
                "velocity": {
                    "x": 13.629029273986816,
                    "y": -0.07769657671451569,
                    "z": -0.05014228820800781
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.5284423828125,
                "transform": {
                    "location": {
                        "x": -97.34561920166016,
                        "y": 4294.841796875,
                        "z": 372.7914123535156
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": 0.2066815197467804,
                        "yaw": 179.65162658691406
                    }
                },
                "velocity": {
                    "x": -8.528214454650879,
                    "y": 0.05181261897087097,
                    "z": 0.03472570329904556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20197443664073944,
        "expert_target_speed": 8.295244327748543,
        "target_point": [
            41.43875403925298,
            8.421303349082255
        ],
        "target_point_next": [
            45.75263761721481,
            8.979788408942468
        ]
    },
    "420": {
        "acceleration": [
            -2.0468807220458984,
            -1.541215181350708,
            0.01587197184562683
        ],
        "angular_velocity": [
            -0.3686809837818146,
            -0.07154703885316849,
            11.407628059387207
        ],
        "forward_vector": [
            -0.9962047338485718,
            0.08667811006307602,
            0.007940803654491901
        ],
        "right_vector": [
            -0.08660390228033066,
            -0.9961998462677002,
            0.009255656972527504
        ],
        "location": [
            -121.24382781982422,
            4295.02978515625,
            372.8865051269531
        ],
        "rotation": [
            -0.5303343534469604,
            0.4549793601036072,
            175.02731323242188
        ],
        "velocity": [
            -8.085257530212402,
            0.5127959847450256,
            0.03067595325410366
        ],
        "speed": 8.101502888466248,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 15.525467872619629,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -136.76913452148438,
                4295.0732421875,
                372.9422607421875
            ],
            "velocity": [
                -4.498748779296875,
                0.02561004087328911,
                0.017437782138586044
            ],
            "speed_kmh": 16.195879687885213,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030585289001465,
                "transform": {
                    "location": {
                        "x": -52.483436584472656,
                        "y": 4301.2802734375,
                        "z": 372.6078796386719
                    },
                    "rotation": {
                        "roll": -5.211066300692124e-11,
                        "pitch": -0.2395961880683899,
                        "yaw": -0.3696593940258026
                    }
                },
                "velocity": {
                    "x": 8.030362129211426,
                    "y": -0.05001017823815346,
                    "z": -0.03294362500309944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029208183288574,
                "transform": {
                    "location": {
                        "x": -51.39992141723633,
                        "y": 4298.02294921875,
                        "z": 372.6417541503906
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": -0.23818917572498322,
                        "yaw": -0.3701171278953552
                    }
                },
                "velocity": {
                    "x": 8.028974533081055,
                    "y": -0.05190260708332062,
                    "z": -0.032577209174633026
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.212102890014648,
                "transform": {
                    "location": {
                        "x": -65.95030975341797,
                        "y": 4294.66845703125,
                        "z": 372.66229248046875
                    },
                    "rotation": {
                        "roll": 0.002413491951301694,
                        "pitch": 0.25502559542655945,
                        "yaw": 179.8265838623047
                    }
                },
                "velocity": {
                    "x": -9.211982727050781,
                    "y": 0.029156498610973358,
                    "z": 0.03702406957745552
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.407835006713867,
                "transform": {
                    "location": {
                        "x": -152.06890869140625,
                        "y": 4298.60107421875,
                        "z": 373.00213623046875
                    },
                    "rotation": {
                        "roll": 0.00016533921007066965,
                        "pitch": -0.16225796937942505,
                        "yaw": -0.1087951585650444
                    }
                },
                "velocity": {
                    "x": 9.407734870910645,
                    "y": -0.027501976117491722,
                    "z": -0.03355027735233307
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.421806335449219,
                "transform": {
                    "location": {
                        "x": -77.20023345947266,
                        "y": 4298.17138671875,
                        "z": 372.70904541015625
                    },
                    "rotation": {
                        "roll": 0.0005581002915278077,
                        "pitch": -0.2494794726371765,
                        "yaw": -0.349029541015625
                    }
                },
                "velocity": {
                    "x": 11.421491622924805,
                    "y": -0.06957101076841354,
                    "z": -0.048418574035167694
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.642374038696289,
                "transform": {
                    "location": {
                        "x": -75.86968231201172,
                        "y": 4301.4150390625,
                        "z": 372.7078857421875
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.06341830641031265,
                        "yaw": -0.3293761610984802
                    }
                },
                "velocity": {
                    "x": 10.642115592956543,
                    "y": -0.06028766930103302,
                    "z": -0.04315357282757759
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.4988555908203125,
                "transform": {
                    "location": {
                        "x": -136.76913452148438,
                        "y": 4295.0732421875,
                        "z": 372.9422607421875
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.10312902182340622,
                        "yaw": 179.57456970214844
                    }
                },
                "velocity": {
                    "x": -4.498748779296875,
                    "y": 0.02561004087328911,
                    "z": 0.017437782138586044
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.833456516265869,
                "transform": {
                    "location": {
                        "x": -153.075927734375,
                        "y": 4295.17138671875,
                        "z": 373.00921630859375
                    },
                    "rotation": {
                        "roll": -2.6055158031113024e-11,
                        "pitch": 0.11918679624795914,
                        "yaw": 179.66375732421875
                    }
                },
                "velocity": {
                    "x": -5.833319187164307,
                    "y": 0.03417031094431877,
                    "z": 0.020898208022117615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.555005073547363,
                "transform": {
                    "location": {
                        "x": -138.74562072753906,
                        "y": 4301.78759765625,
                        "z": 372.964599609375
                    },
                    "rotation": {
                        "roll": 0.0017242368776351213,
                        "pitch": -0.23767007887363434,
                        "yaw": -0.3421630561351776
                    }
                },
                "velocity": {
                    "x": 13.554665565490723,
                    "y": -0.08015010505914688,
                    "z": -0.052810125052928925
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.747533798217773,
                "transform": {
                    "location": {
                        "x": -99.49007415771484,
                        "y": 4294.85546875,
                        "z": 372.79986572265625
                    },
                    "rotation": {
                        "roll": -0.0014953614445403218,
                        "pitch": 0.232192263007164,
                        "yaw": 179.65444946289062
                    }
                },
                "velocity": {
                    "x": -8.747308731079102,
                    "y": 0.052663881331682205,
                    "z": 0.03417858108878136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22174279391765594,
        "expert_target_speed": 8.63928284588536,
        "target_point": [
            39.8236503434987,
            6.435127197118247
        ],
        "target_point_next": [
            44.1593294122878,
            6.786387924726478
        ]
    },
    "425": {
        "acceleration": [
            -0.5944633483886719,
            -0.9512445330619812,
            -0.013351067900657654
        ],
        "angular_velocity": [
            0.4556402862071991,
            -0.3296460509300232,
            9.23512077331543
        ],
        "forward_vector": [
            -0.9991602897644043,
            0.040342897176742554,
            0.007153211161494255
        ],
        "right_vector": [
            -0.04027734324336052,
            -0.9991472959518433,
            0.009083151817321777
        ],
        "location": [
            -123.31195068359375,
            4295.125,
            372.8948059082031
        ],
        "rotation": [
            -0.5204467177391052,
            0.4098522961139679,
            177.68783569335938
        ],
        "velocity": [
            -8.41601276397705,
            0.1997501403093338,
            0.033264074474573135
        ],
        "speed": 8.418382918469451,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.498514175415039,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -137.810302734375,
                4295.0791015625,
                372.94573974609375
            ],
            "velocity": [
                -4.088460445404053,
                0.024351580068469048,
                0.017572173848748207
            ],
            "speed_kmh": 14.718854619268216,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -226.07492065429688,
                        "y": 4298.953125,
                        "z": 373.5931091308594
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -226.05569458007812,
                        "y": 4302.203125,
                        "z": 373.5931091308594
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.56468200683594,
                        "y": 4349.0908203125,
                        "z": 373.1394348144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03107052855193615,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.1092071533203,
                        "y": 4292.39404296875,
                        "z": 373.3887939453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.22043068706989288,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.10890197753906,
                        "y": 4292.48291015625,
                        "z": 373.44677734375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.08999633789062,
                        "y": 4295.64404296875,
                        "z": 373.3887939453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.22043068706989288,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.08984375,
                        "y": 4295.73291015625,
                        "z": 373.44677734375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -50.43617248535156,
                        "y": 4301.17431640625,
                        "z": 372.6034240722656
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -49.3322639465332,
                        "y": 4297.98388671875,
                        "z": 372.6242980957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.941349029541016,
                "transform": {
                    "location": {
                        "x": -68.35257720947266,
                        "y": 4294.67724609375,
                        "z": 372.6721496582031
                    },
                    "rotation": {
                        "roll": 0.0015446324832737446,
                        "pitch": 0.2552783191204071,
                        "yaw": 179.75857543945312
                    }
                },
                "velocity": {
                    "x": -9.941166877746582,
                    "y": 0.04448150470852852,
                    "z": 0.04062004014849663
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.12546157836914,
                "transform": {
                    "location": {
                        "x": -149.62132263183594,
                        "y": 4298.59375,
                        "z": 372.99346923828125
                    },
                    "rotation": {
                        "roll": 0.0016095050377771258,
                        "pitch": -0.18194939196109772,
                        "yaw": -0.1903686374425888
                    }
                },
                "velocity": {
                    "x": 10.12531852722168,
                    "y": -0.03893588110804558,
                    "z": -0.03720451146364212
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.811334609985352,
                "transform": {
                    "location": {
                        "x": -74.28125,
                        "y": 4298.15380859375,
                        "z": 372.69677734375
                    },
                    "rotation": {
                        "roll": -0.00015258793428074569,
                        "pitch": -0.22952166199684143,
                        "yaw": -0.3377074897289276
                    }
                },
                "velocity": {
                    "x": 11.811031341552734,
                    "y": -0.0695594847202301,
                    "z": -0.048164002597332
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.745434761047363,
                "transform": {
                    "location": {
                        "x": -73.18820190429688,
                        "y": 4301.3994140625,
                        "z": 372.69671630859375
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.16781774163246155,
                        "yaw": -0.31866455078125
                    }
                },
                "velocity": {
                    "x": 10.7451753616333,
                    "y": -0.06019400432705879,
                    "z": -0.044292934238910675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.088571071624756,
                "transform": {
                    "location": {
                        "x": -137.810302734375,
                        "y": 4295.0791015625,
                        "z": 372.94573974609375
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.1725032478570938,
                        "yaw": 179.5876922607422
                    }
                },
                "velocity": {
                    "x": -4.088460445404053,
                    "y": 0.024351580068469048,
                    "z": 0.017572173848748207
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.605826377868652,
                "transform": {
                    "location": {
                        "x": -154.50453186035156,
                        "y": 4295.17919921875,
                        "z": 373.0142822265625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": 0.11829204112291336,
                        "yaw": 179.66407775878906
                    }
                },
                "velocity": {
                    "x": -5.60568904876709,
                    "y": 0.03287271782755852,
                    "z": 0.021411877125501633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.454249382019043,
                "transform": {
                    "location": {
                        "x": -135.37210083007812,
                        "y": 4301.76806640625,
                        "z": 372.95172119140625
                    },
                    "rotation": {
                        "roll": 0.0010038011241704226,
                        "pitch": -0.26492252945899963,
                        "yaw": -0.345458984375
                    }
                },
                "velocity": {
                    "x": 13.45390510559082,
                    "y": -0.08055555075407028,
                    "z": -0.05264376476407051
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.318263053894043,
                "transform": {
                    "location": {
                        "x": -101.75179290771484,
                        "y": 4294.869140625,
                        "z": 372.8088073730469
                    },
                    "rotation": {
                        "roll": -0.0007629392785020173,
                        "pitch": 0.2433801144361496,
                        "yaw": 179.66212463378906
                    }
                },
                "velocity": {
                    "x": -9.318029403686523,
                    "y": 0.05467359721660614,
                    "z": 0.03697817772626877
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1233651265501976,
        "expert_target_speed": 8.865349181623808,
        "target_point": [
            38.00914857298378,
            4.591369387757609
        ],
        "target_point_next": [
            42.356459007540614,
            4.740999170518568
        ]
    },
    "430": {
        "acceleration": [
            0.9668731689453125,
            -0.1538606733083725,
            0.017015039920806885
        ],
        "angular_velocity": [
            0.9173803925514221,
            -0.6679661870002747,
            3.4821646213531494
        ],
        "forward_vector": [
            -0.9999157190322876,
            0.011931130662560463,
            0.005123473703861237
        ],
        "right_vector": [
            -0.011900593526661396,
            -0.9999114871025085,
            0.005949921440333128
        ],
        "location": [
            -125.42046356201172,
            4295.158203125,
            372.9034423828125
        ],
        "rotation": [
            -0.340911865234375,
            0.2935546934604645,
            179.31637573242188
        ],
        "velocity": [
            -8.37414836883545,
            0.055033449083566666,
            0.03390001133084297
        ],
        "speed": 8.374329202018956,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.495040893554688,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -138.9152374267578,
                4295.0869140625,
                372.9494934082031
            ],
            "velocity": [
                -5.01270866394043,
                0.03313203901052475,
                0.01765482872724533
            ],
            "speed_kmh": 18.046257289696015,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -53.85116958618164,
                        "y": 4294.68505859375,
                        "z": 372.8097229003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23711682856082916,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -224.01422119140625,
                        "y": 4298.94091796875,
                        "z": 373.3177795410156
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.9949951171875,
                        "y": 4302.19091796875,
                        "z": 373.3177795410156
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.56655883789062,
                        "y": 4347.00830078125,
                        "z": 373.1346740722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.016781773418188095,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.35797119140625,
                        "y": 4292.4013671875,
                        "z": 373.3309020996094
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.92250061035156,
                        "y": 4295.64892578125,
                        "z": 373.3501892089844
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -48.35296630859375,
                        "y": 4301.1572265625,
                        "z": 372.5950012207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3906,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -47.24984359741211,
                        "y": 4297.92724609375,
                        "z": 372.6008605957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.126697540283203,
                "transform": {
                    "location": {
                        "x": -70.75804901123047,
                        "y": 4294.6884765625,
                        "z": 372.682373046875
                    },
                    "rotation": {
                        "roll": 0.0005031009786762297,
                        "pitch": 0.22364087402820587,
                        "yaw": 179.71730041503906
                    }
                },
                "velocity": {
                    "x": -9.126508712768555,
                    "y": 0.044407520443201065,
                    "z": 0.038393113762140274
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.789302825927734,
                "transform": {
                    "location": {
                        "x": -147.0035858154297,
                        "y": 4298.58349609375,
                        "z": 372.9838562011719
                    },
                    "rotation": {
                        "roll": 0.002092221286147833,
                        "pitch": -0.19173705577850342,
                        "yaw": -0.2980957329273224
                    }
                },
                "velocity": {
                    "x": 10.789106369018555,
                    "y": -0.05188051611185074,
                    "z": -0.039295364171266556
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.885994911193848,
                "transform": {
                    "location": {
                        "x": -71.46023559570312,
                        "y": 4298.13720703125,
                        "z": 372.6853942871094
                    },
                    "rotation": {
                        "roll": 3.905228822986828e-06,
                        "pitch": -0.25219789147377014,
                        "yaw": -0.329986572265625
                    }
                },
                "velocity": {
                    "x": 10.885720252990723,
                    "y": -0.06296484917402267,
                    "z": -0.04479854181408882
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.659636497497559,
                "transform": {
                    "location": {
                        "x": -70.63007354736328,
                        "y": 4301.384765625,
                        "z": 372.68597412109375
                    },
                    "rotation": {
                        "roll": 0.00023941548715811223,
                        "pitch": -0.349036306142807,
                        "yaw": -0.3481445014476776
                    }
                },
                "velocity": {
                    "x": 9.659390449523926,
                    "y": -0.055999841541051865,
                    "z": -0.04024865850806236
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.0128493309021,
                "transform": {
                    "location": {
                        "x": -138.9152374267578,
                        "y": 4295.0869140625,
                        "z": 372.9494934082031
                    },
                    "rotation": {
                        "roll": 0.001151099568232894,
                        "pitch": 0.25699952244758606,
                        "yaw": 179.68287658691406
                    }
                },
                "velocity": {
                    "x": -5.01270866394043,
                    "y": 0.03313203901052475,
                    "z": 0.01765482872724533
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.438369274139404,
                "transform": {
                    "location": {
                        "x": -155.88336181640625,
                        "y": 4295.18701171875,
                        "z": 373.0191955566406
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": 0.1232575848698616,
                        "yaw": 179.66409301757812
                    }
                },
                "velocity": {
                    "x": -5.438235759735107,
                    "y": 0.031923796981573105,
                    "z": 0.020858153700828552
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.436727523803711,
                "transform": {
                    "location": {
                        "x": -132.01171875,
                        "y": 4301.74853515625,
                        "z": 372.9383544921875
                    },
                    "rotation": {
                        "roll": 0.000527101568877697,
                        "pitch": -0.22948750853538513,
                        "yaw": -0.3436889350414276
                    }
                },
                "velocity": {
                    "x": 13.436382293701172,
                    "y": -0.08074627816677094,
                    "z": -0.052688535302877426
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.539305686950684,
                "transform": {
                    "location": {
                        "x": -104.00164031982422,
                        "y": 4294.88232421875,
                        "z": 372.818115234375
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.21599788963794708,
                        "yaw": 179.66661071777344
                    }
                },
                "velocity": {
                    "x": -8.539092063903809,
                    "y": 0.04962926357984543,
                    "z": 0.034530218690633774
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.056489259004592896,
        "expert_target_speed": 8.826287130673043,
        "target_point": [
            36.015521498206645,
            3.5173583695738135
        ],
        "target_point_next": [
            40.36532838956922,
            3.5433794024228504
        ]
    },
    "435": {
        "acceleration": [
            3.7734127044677734,
            0.24439364671707153,
            -0.025133155286312103
        ],
        "angular_velocity": [
            0.6501603722572327,
            -0.9517707824707031,
            -2.3724074363708496
        ],
        "forward_vector": [
            -0.999896228313446,
            0.014365321956574917,
            0.0010701414430513978
        ],
        "right_vector": [
            -0.014364268630743027,
            -0.9998963475227356,
            0.0009859015699476004
        ],
        "location": [
            -127.423828125,
            4295.18701171875,
            372.9122314453125
        ],
        "rotation": [
            -0.0564880408346653,
            0.06131460517644882,
            179.17689514160156
        ],
        "velocity": [
            -7.632321834564209,
            0.14628343284130096,
            0.03055517189204693
        ],
        "speed": 7.633723562527622,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.94031810760498,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -140.36375427246094,
                4295.095703125,
                372.9548034667969
            ],
            "velocity": [
                -6.062189102172852,
                0.03449846804141998,
                0.02170145884156227
            ],
            "speed_kmh": 21.824373979410904,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -55.92351531982422,
                        "y": 4294.697265625,
                        "z": 372.6556091308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23711682856082916,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.93116760253906,
                        "y": 4298.9287109375,
                        "z": 373.2879333496094
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.9117889404297,
                        "y": 4302.1787109375,
                        "z": 373.2879333496094
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076869010925293,
                "transform": {
                    "location": {
                        "x": -174.56382751464844,
                        "y": 4344.953125,
                        "z": 373.1256408691406
                    },
                    "rotation": {
                        "roll": -0.015045168809592724,
                        "pitch": -0.0024110565427690744,
                        "yaw": -89.86028289794922
                    }
                },
                "velocity": {
                    "x": 0.0870152935385704,
                    "y": -8.076196670532227,
                    "z": -0.057373613119125366
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.60671997070312,
                        "y": 4292.40869140625,
                        "z": 373.2730407714844
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.17124938964844,
                        "y": 4295.65625,
                        "z": 373.2923278808594
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.13766098022461,
                "transform": {
                    "location": {
                        "x": -72.88687133789062,
                        "y": 4294.69970703125,
                        "z": 372.6912841796875
                    },
                    "rotation": {
                        "roll": 0.0006571165286004543,
                        "pitch": 0.21430400013923645,
                        "yaw": 179.7018585205078
                    }
                },
                "velocity": {
                    "x": -8.137482643127441,
                    "y": 0.04306307062506676,
                    "z": 0.0323493555188179
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.444875717163086,
                "transform": {
                    "location": {
                        "x": -144.22100830078125,
                        "y": 4298.5693359375,
                        "z": 372.973388671875
                    },
                    "rotation": {
                        "roll": 0.0014150274218991399,
                        "pitch": -0.1917097419500351,
                        "yaw": -0.3291625678539276
                    }
                },
                "velocity": {
                    "x": 11.444634437561035,
                    "y": -0.06191837787628174,
                    "z": -0.04118984192609787
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.756591796875,
                "transform": {
                    "location": {
                        "x": -68.74085998535156,
                        "y": 4298.12158203125,
                        "z": 372.67413330078125
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": -0.24212336540222168,
                        "yaw": -0.33038330078125
                    }
                },
                "velocity": {
                    "x": 10.756315231323242,
                    "y": -0.06300372630357742,
                    "z": -0.04452906921505928
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.755083084106445,
                "transform": {
                    "location": {
                        "x": -68.33429718017578,
                        "y": 4301.37060546875,
                        "z": 372.6764831542969
                    },
                    "rotation": {
                        "roll": 0.0015603622887283564,
                        "pitch": -0.3793008625507355,
                        "yaw": -0.3260802626609802
                    }
                },
                "velocity": {
                    "x": 8.754855155944824,
                    "y": -0.051587413996458054,
                    "z": -0.03634472191333771
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.062325954437256,
                "transform": {
                    "location": {
                        "x": -140.36375427246094,
                        "y": 4295.095703125,
                        "z": 372.9548034667969
                    },
                    "rotation": {
                        "roll": -0.0008544920128770173,
                        "pitch": 0.284040242433548,
                        "yaw": 179.749267578125
                    }
                },
                "velocity": {
                    "x": -6.062189102172852,
                    "y": 0.03449846804141998,
                    "z": 0.02170145884156227
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.2338361740112305,
                "transform": {
                    "location": {
                        "x": -157.2167205810547,
                        "y": 4295.19482421875,
                        "z": 373.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0010459611658006907,
                        "pitch": 0.12314830720424652,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": -5.233710289001465,
                    "y": 0.0316162109375,
                    "z": 0.01778293587267399
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.450742721557617,
                "transform": {
                    "location": {
                        "x": -128.65086364746094,
                        "y": 4301.72900390625,
                        "z": 372.9250183105469
                    },
                    "rotation": {
                        "roll": 0.0002871716860681772,
                        "pitch": -0.21896901726722717,
                        "yaw": -0.3457946479320526
                    }
                },
                "velocity": {
                    "x": 13.450395584106445,
                    "y": -0.08092699944972992,
                    "z": -0.052632465958595276
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.026519775390625,
                "transform": {
                    "location": {
                        "x": -106.05476379394531,
                        "y": 4294.89404296875,
                        "z": 372.8262939453125
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": 0.21696777641773224,
                        "yaw": 179.6678924560547
                    }
                },
                "velocity": {
                    "x": -8.026315689086914,
                    "y": 0.04657532274723053,
                    "z": 0.03324558958411217
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09340200573205948,
        "expert_target_speed": 8.264561894781238,
        "target_point": [
            34.00328097008173,
            3.605045732559326
        ],
        "target_point_next": [
            38.35301163212955,
            3.6416552113436986
        ]
    },
    "440": {
        "acceleration": [
            1.9477558135986328,
            0.2708122134208679,
            0.005243122577667236
        ],
        "angular_velocity": [
            0.25635358691215515,
            0.03185581415891647,
            -2.229426860809326
        ],
        "forward_vector": [
            -0.9997025728225708,
            0.024381276220083237,
            -0.0006252526072785258
        ],
        "right_vector": [
            -0.024380864575505257,
            -0.999702513217926,
            -0.0006558315362781286
        ],
        "location": [
            -129.24078369140625,
            4295.2294921875,
            372.9196472167969
        ],
        "rotation": [
            0.03757638856768608,
            -0.03582433983683586,
            178.60292053222656
        ],
        "velocity": [
            -6.973021507263184,
            0.20509476959705353,
            0.02873186022043228
        ],
        "speed": 6.976037041563855,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.951507568359375,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -142.19163513183594,
                4295.10595703125,
                372.9613342285156
            ],
            "velocity": [
                -8.037455558776855,
                0.04840477928519249,
                0.029001493006944656
            ],
            "speed_kmh": 28.93555308876317,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -57.93421936035156,
                        "y": 4294.708984375,
                        "z": 372.65191650390625
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.2363860011100769,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.84796142578125,
                        "y": 4298.91650390625,
                        "z": 373.25811767578125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.82858276367188,
                        "y": 4302.16650390625,
                        "z": 373.25811767578125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.995668411254883,
                "transform": {
                    "location": {
                        "x": -174.54312133789062,
                        "y": 4342.94482421875,
                        "z": 373.11724853515625
                    },
                    "rotation": {
                        "roll": 0.0001417614403180778,
                        "pitch": 0.008503585122525692,
                        "yaw": -89.40746307373047
                    }
                },
                "velocity": {
                    "x": 0.06874736398458481,
                    "y": -7.995359897613525,
                    "z": -0.014272689819335938
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.43960571289062,
                        "y": 4292.41357421875,
                        "z": 373.25537109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.0037384033203,
                        "y": 4295.6611328125,
                        "z": 373.2537536621094
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.981086730957031,
                "transform": {
                    "location": {
                        "x": -74.892578125,
                        "y": 4294.71044921875,
                        "z": 372.6993408203125
                    },
                    "rotation": {
                        "roll": 0.00030694270390085876,
                        "pitch": 0.22941921651363373,
                        "yaw": 179.69384765625
                    }
                },
                "velocity": {
                    "x": -7.980904579162598,
                    "y": 0.042534682899713516,
                    "z": 0.033157024532556534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.097885131835938,
                "transform": {
                    "location": {
                        "x": -141.2750701904297,
                        "y": 4298.552734375,
                        "z": 372.96246337890625
                    },
                    "rotation": {
                        "roll": 0.0008622051100246608,
                        "pitch": -0.19350607693195343,
                        "yaw": -0.351898193359375
                    }
                },
                "velocity": {
                    "x": 12.097593307495117,
                    "y": -0.07053644955158234,
                    "z": -0.0457596592605114
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.980655670166016,
                "transform": {
                    "location": {
                        "x": -66.04125213623047,
                        "y": 4298.1064453125,
                        "z": 372.6628723144531
                    },
                    "rotation": {
                        "roll": 0.00048130282084457576,
                        "pitch": -0.23312117159366608,
                        "yaw": -0.3331603407859802
                    }
                },
                "velocity": {
                    "x": 10.980379104614258,
                    "y": -0.063789501786232,
                    "z": -0.04479638859629631
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.096968650817871,
                "transform": {
                    "location": {
                        "x": -66.12921905517578,
                        "y": 4301.357421875,
                        "z": 372.66748046875
                    },
                    "rotation": {
                        "roll": 0.0004065651446580887,
                        "pitch": -0.2331826388835907,
                        "yaw": -0.3543090522289276
                    }
                },
                "velocity": {
                    "x": 9.096731185913086,
                    "y": -0.05413263291120529,
                    "z": -0.03739185258746147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.037653923034668,
                "transform": {
                    "location": {
                        "x": -142.19163513183594,
                        "y": 4295.10595703125,
                        "z": 372.9613342285156
                    },
                    "rotation": {
                        "roll": 0.000488743360619992,
                        "pitch": 0.32691332697868347,
                        "yaw": 179.62353515625
                    }
                },
                "velocity": {
                    "x": -8.037455558776855,
                    "y": 0.04840477928519249,
                    "z": 0.029001493006944656
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.072953224182129,
                "transform": {
                    "location": {
                        "x": -158.503662109375,
                        "y": 4295.20263671875,
                        "z": 373.0284729003906
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.12127000093460083,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": -5.072834491729736,
                    "y": 0.030005445703864098,
                    "z": 0.017484484240412712
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.458050727844238,
                "transform": {
                    "location": {
                        "x": -125.287109375,
                        "y": 4301.70947265625,
                        "z": 372.911865234375
                    },
                    "rotation": {
                        "roll": 7.273862865986302e-05,
                        "pitch": -0.22228848934173584,
                        "yaw": -0.3464354872703552
                    }
                },
                "velocity": {
                    "x": 13.4576997756958,
                    "y": -0.0817345380783081,
                    "z": -0.05270388349890709
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.00118637084961,
                "transform": {
                    "location": {
                        "x": -108.05226135253906,
                        "y": 4294.90576171875,
                        "z": 372.8341979980469
                    },
                    "rotation": {
                        "roll": -0.0008544919546693563,
                        "pitch": 0.22589483857154846,
                        "yaw": 179.66452026367188
                    }
                },
                "velocity": {
                    "x": -8.000983238220215,
                    "y": 0.0468963123857975,
                    "z": 0.03262212499976158
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1519215703010559,
        "expert_target_speed": 7.736158354906146,
        "target_point": [
            32.14800928282985,
            3.943668085662876
        ],
        "target_point_next": [
            36.49715493916477,
            4.023850042978248
        ]
    },
    "445": {
        "acceleration": [
            2.535877227783203,
            -0.08086591958999634,
            -0.005168132483959198
        ],
        "angular_velocity": [
            -0.1581510752439499,
            -0.039136674255132675,
            -1.069329857826233
        ],
        "forward_vector": [
            -0.9994866251945496,
            0.032035499811172485,
            -0.0004495381726883352
        ],
        "right_vector": [
            -0.03203515335917473,
            -0.9994864463806152,
            -0.0007580849342048168
        ],
        "location": [
            -130.90928649902344,
            4295.283203125,
            372.92620849609375
        ],
        "rotation": [
            0.043435078114271164,
            -0.02575664222240448,
            178.1641845703125
        ],
        "velocity": [
            -6.406275272369385,
            0.22282199561595917,
            0.025088148191571236
        ],
        "speed": 6.410149179785265,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.181743621826172,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -144.0899200439453,
                4295.11767578125,
                372.9693908691406
            ],
            "velocity": [
                -6.997217178344727,
                0.04401932656764984,
                0.02634541504085064
            ],
            "speed_kmh": 25.190658846031454,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -59.93132781982422,
                        "y": 4294.72119140625,
                        "z": 372.6482238769531
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.2363860011100769,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.76475524902344,
                        "y": 4298.904296875,
                        "z": 373.2447814941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.74539184570312,
                        "y": 4302.154296875,
                        "z": 373.2447814941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.037423133850098,
                "transform": {
                    "location": {
                        "x": -174.52647399902344,
                        "y": 4340.9404296875,
                        "z": 373.11572265625
                    },
                    "rotation": {
                        "roll": 0.0018142284825444221,
                        "pitch": 0.006953132338821888,
                        "yaw": -89.52273559570312
                    }
                },
                "velocity": {
                    "x": 0.05889492481946945,
                    "y": -8.037206649780273,
                    "z": -0.0026794052682816982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.6895294189453,
                        "y": 4292.4208984375,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.253662109375,
                        "y": 4295.66845703125,
                        "z": 373.2574462890625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.017486572265625,
                "transform": {
                    "location": {
                        "x": -76.89054870605469,
                        "y": 4294.7216796875,
                        "z": 372.7074890136719
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.23691876232624054,
                        "yaw": 179.6865692138672
                    }
                },
                "velocity": {
                    "x": -8.017292976379395,
                    "y": 0.04488039016723633,
                    "z": 0.033157311379909515
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.748161315917969,
                "transform": {
                    "location": {
                        "x": -138.1660919189453,
                        "y": 4298.5341796875,
                        "z": 372.95050048828125
                    },
                    "rotation": {
                        "roll": 1.165827052318491e-05,
                        "pitch": -0.20004257559776306,
                        "yaw": -0.35247802734375
                    }
                },
                "velocity": {
                    "x": 12.747834205627441,
                    "y": -0.07722657173871994,
                    "z": -0.048845142126083374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.79117488861084,
                "transform": {
                    "location": {
                        "x": -63.195701599121094,
                        "y": 4298.09033203125,
                        "z": 372.651123046875
                    },
                    "rotation": {
                        "roll": -5.211059014853525e-11,
                        "pitch": -0.22028042376041412,
                        "yaw": -0.3307189643383026
                    }
                },
                "velocity": {
                    "x": 11.79088020324707,
                    "y": -0.06789896637201309,
                    "z": -0.04842716082930565
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.201573371887207,
                "transform": {
                    "location": {
                        "x": -63.71648406982422,
                        "y": 4301.34326171875,
                        "z": 372.65777587890625
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.1021113246679306,
                        "yaw": -0.3275756239891052
                    }
                },
                "velocity": {
                    "x": 10.201311111450195,
                    "y": -0.06028148904442787,
                    "z": -0.04130394011735916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.997405052185059,
                "transform": {
                    "location": {
                        "x": -144.0899200439453,
                        "y": 4295.11767578125,
                        "z": 372.9693908691406
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.19319188594818115,
                        "yaw": 179.63658142089844
                    }
                },
                "velocity": {
                    "x": -6.997217178344727,
                    "y": 0.04401932656764984,
                    "z": 0.02634541504085064
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2442574501037598,
                "transform": {
                    "location": {
                        "x": -159.66639709472656,
                        "y": 4295.2099609375,
                        "z": 373.03350830078125
                    },
                    "rotation": {
                        "roll": 0.0007350401137955487,
                        "pitch": -0.21224811673164368,
                        "yaw": 179.6591796875
                    }
                },
                "velocity": {
                    "x": -3.244187593460083,
                    "y": 0.01933523826301098,
                    "z": 0.00891423225402832
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.457179069519043,
                "transform": {
                    "location": {
                        "x": -121.92210388183594,
                        "y": 4301.689453125,
                        "z": 372.8986511230469
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.22521863877773285,
                        "yaw": -0.3505554497241974
                    }
                },
                "velocity": {
                    "x": 13.456826210021973,
                    "y": -0.0819459930062294,
                    "z": -0.05282645672559738
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.041916847229004,
                "transform": {
                    "location": {
                        "x": -110.05819702148438,
                        "y": 4294.91748046875,
                        "z": 372.84222412109375
                    },
                    "rotation": {
                        "roll": 0.00018610157712828368,
                        "pitch": 0.23017053306102753,
                        "yaw": 179.6667022705078
                    }
                },
                "velocity": {
                    "x": -8.041714668273926,
                    "y": 0.04669846594333649,
                    "z": 0.03276073560118675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21384964883327484,
        "expert_target_speed": 7.260193592824239,
        "target_point": [
            30.44750321410806,
            4.189941732812835
        ],
        "target_point_next": [
            34.79590742357905,
            4.303422644647312
        ]
    },
    "450": {
        "acceleration": [
            1.3394832611083984,
            -0.2763897180557251,
            -0.006685815751552582
        ],
        "angular_velocity": [
            -0.2169596552848816,
            0.23384997248649597,
            1.2088170051574707
        ],
        "forward_vector": [
            -0.999520480632782,
            0.03096410632133484,
            -4.959106081514619e-05
        ],
        "right_vector": [
            -0.03096412494778633,
            -0.9995203614234924,
            0.00043995422311127186
        ],
        "location": [
            -132.44960021972656,
            4295.3310546875,
            372.9320983886719
        ],
        "rotation": [
            -0.02520751953125,
            -0.0028413585387170315,
            178.22560119628906
        ],
        "velocity": [
            -5.943825721740723,
            0.16120672225952148,
            0.02432195656001568
        ],
        "speed": 5.9460114209214465,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.306079864501953,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -145.75405883789062,
                4295.1279296875,
                372.97564697265625
            ],
            "velocity": [
                -6.613651752471924,
                0.04121140018105507,
                0.024819735437631607
            ],
            "speed_kmh": 23.809776197323682,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -61.94499969482422,
                        "y": 4294.73291015625,
                        "z": 372.65167236328125
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.6815643310547,
                        "y": 4298.8916015625,
                        "z": 373.23541259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.6621856689453,
                        "y": 4302.1416015625,
                        "z": 373.23541259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.149681568145752,
                "transform": {
                    "location": {
                        "x": -174.51234436035156,
                        "y": 4339.13720703125,
                        "z": 373.1163635253906
                    },
                    "rotation": {
                        "roll": 0.00016270081687252969,
                        "pitch": -0.10006909817457199,
                        "yaw": -89.70132446289062
                    }
                },
                "velocity": {
                    "x": 0.04566829279065132,
                    "y": -6.149511814117432,
                    "z": -0.0015549373347312212
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.091653823852539,
                "transform": {
                    "location": {
                        "x": -78.90656280517578,
                        "y": 4294.73291015625,
                        "z": 372.7158508300781
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.2377861887216568,
                        "yaw": 179.67286682128906
                    }
                },
                "velocity": {
                    "x": -8.091451644897461,
                    "y": 0.04628494754433632,
                    "z": 0.03369069844484329
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.325060844421387,
                "transform": {
                    "location": {
                        "x": -134.89828491210938,
                        "y": 4298.51513671875,
                        "z": 372.93792724609375
                    },
                    "rotation": {
                        "roll": 0.0003996025479864329,
                        "pitch": -0.20086219906806946,
                        "yaw": -0.3542174994945526
                    }
                },
                "velocity": {
                    "x": 13.324722290039062,
                    "y": -0.08044547587633133,
                    "z": -0.05060326308012009
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -59.99578094482422,
                        "y": 4298.0576171875,
                        "z": 372.6385803222656
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": -0.23711682856082916,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -60.908592224121094,
                        "y": 4301.24365234375,
                        "z": 372.6470642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.613826751708984,
                "transform": {
                    "location": {
                        "x": -145.75405883789062,
                        "y": 4295.1279296875,
                        "z": 372.97564697265625
                    },
                    "rotation": {
                        "roll": 0.0003422465524636209,
                        "pitch": 0.18353399634361267,
                        "yaw": 179.64309692382812
                    }
                },
                "velocity": {
                    "x": -6.613651752471924,
                    "y": 0.04121140018105507,
                    "z": 0.024819735437631607
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.007846621796488762,
                "transform": {
                    "location": {
                        "x": -159.89718627929688,
                        "y": 4295.2109375,
                        "z": 373.03741455078125
                    },
                    "rotation": {
                        "roll": 0.000761764997150749,
                        "pitch": -1.05398690700531,
                        "yaw": 179.64988708496094
                    }
                },
                "velocity": {
                    "x": 0.007843711413443089,
                    "y": 3.652039367807447e-06,
                    "z": -0.00021366158034652472
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455763816833496,
                "transform": {
                    "location": {
                        "x": -118.55890655517578,
                        "y": 4301.6689453125,
                        "z": 372.8853759765625
                    },
                    "rotation": {
                        "roll": 0.00024625452351756394,
                        "pitch": -0.22802585363388062,
                        "yaw": -0.3489990234375
                    }
                },
                "velocity": {
                    "x": 13.455409049987793,
                    "y": -0.08209027349948883,
                    "z": -0.05285484716296196
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0858154296875,
                "transform": {
                    "location": {
                        "x": -112.07569885253906,
                        "y": 4294.92919921875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": 0.0007099405047483742,
                        "pitch": 0.22807367146015167,
                        "yaw": 179.66604614257812
                    }
                },
                "velocity": {
                    "x": -8.085604667663574,
                    "y": 0.04799582064151764,
                    "z": 0.033210352063179016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23521572351455688,
        "expert_target_speed": 6.869145721500409,
        "target_point": [
            28.910920227980636,
            4.157436541435824
        ],
        "target_point_next": [
            33.259443582782986,
            4.2662562043392445
        ]
    },
    "455": {
        "acceleration": [
            1.6277217864990234,
            -0.21236732602119446,
            0.002158544957637787
        ],
        "angular_velocity": [
            -0.014593645930290222,
            0.09617028385400772,
            1.86981201171875
        ],
        "forward_vector": [
            -0.9997156262397766,
            0.023840460926294327,
            0.0005832909373566508
        ],
        "right_vector": [
            -0.023839810863137245,
            -0.9997152090072632,
            0.0010950909927487373
        ],
        "location": [
            -133.8820343017578,
            4295.36376953125,
            372.9376220703125
        ],
        "rotation": [
            -0.06274411827325821,
            0.03342011198401451,
            178.6339111328125
        ],
        "velocity": [
            -5.5558390617370605,
            0.09605397284030914,
            0.021191157400608063
        ],
        "speed": 5.556669330239271,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.492743492126465,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -147.372802734375,
                4295.13720703125,
                372.98175048828125
            ],
            "velocity": [
                -6.041689395904541,
                0.036857254803180695,
                0.023201217874884605
            ],
            "speed_kmh": 21.75064691759418,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -63.96296691894531,
                        "y": 4294.7451171875,
                        "z": 372.6597900390625
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -213.62132263183594,
                        "y": 4298.87939453125,
                        "z": 373.22662353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -213.60194396972656,
                        "y": 4302.12939453125,
                        "z": 373.22662353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.7105021476745605,
                "transform": {
                    "location": {
                        "x": -174.5047607421875,
                        "y": 4337.6875,
                        "z": 373.115966796875
                    },
                    "rotation": {
                        "roll": 0.0027073489036411047,
                        "pitch": -0.04818015173077583,
                        "yaw": -89.82769012451172
                    }
                },
                "velocity": {
                    "x": 0.018562644720077515,
                    "y": -5.7104716300964355,
                    "z": -0.0017983149737119675
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.039475440979004,
                "transform": {
                    "location": {
                        "x": -80.92296600341797,
                        "y": 4294.74462890625,
                        "z": 372.72412109375
                    },
                    "rotation": {
                        "roll": 0.0006370185292325914,
                        "pitch": 0.23646797239780426,
                        "yaw": 179.6658172607422
                    }
                },
                "velocity": {
                    "x": -8.039271354675293,
                    "y": 0.04691643267869949,
                    "z": 0.03292594850063324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.459110260009766,
                "transform": {
                    "location": {
                        "x": -131.54139709472656,
                        "y": 4298.494140625,
                        "z": 372.9250183105469
                    },
                    "rotation": {
                        "roll": -3.0517621780745685e-05,
                        "pitch": -0.21655113995075226,
                        "yaw": -0.3472289741039276
                    }
                },
                "velocity": {
                    "x": 13.458757400512695,
                    "y": -0.08214490115642548,
                    "z": -0.05244064703583717
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3911,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -56.52468490600586,
                        "y": 4297.96630859375,
                        "z": 372.6281433105469
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": -0.23711682856082916,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -57.43663787841797,
                        "y": 4301.21240234375,
                        "z": 372.63275146484375
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": -0.23711682856082916,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.04184627532959,
                "transform": {
                    "location": {
                        "x": -147.372802734375,
                        "y": 4295.13720703125,
                        "z": 372.98175048828125
                    },
                    "rotation": {
                        "roll": 0.00032494490733370185,
                        "pitch": 0.18091803789138794,
                        "yaw": 179.650146484375
                    }
                },
                "velocity": {
                    "x": -6.041689395904541,
                    "y": 0.036857254803180695,
                    "z": 0.023201217874884605
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.007218741346150637,
                "transform": {
                    "location": {
                        "x": -159.9022674560547,
                        "y": 4295.2109375,
                        "z": 373.03466796875
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -0.31715983152389526,
                        "yaw": 179.6496124267578
                    }
                },
                "velocity": {
                    "x": 0.00707041984423995,
                    "y": 8.201035234378651e-05,
                    "z": 0.001453499891795218
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455504417419434,
                "transform": {
                    "location": {
                        "x": -115.19562530517578,
                        "y": 4301.6474609375,
                        "z": 372.8721008300781
                    },
                    "rotation": {
                        "roll": 0.000743442215025425,
                        "pitch": -0.22720623016357422,
                        "yaw": -0.35107421875
                    }
                },
                "velocity": {
                    "x": 13.455150604248047,
                    "y": -0.08213046193122864,
                    "z": -0.052685149013996124
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.034350395202637,
                "transform": {
                    "location": {
                        "x": -114.0903091430664,
                        "y": 4294.94091796875,
                        "z": 372.8581848144531
                    },
                    "rotation": {
                        "roll": 0.00034406009945087135,
                        "pitch": 0.22614754736423492,
                        "yaw": 179.6634063720703
                    }
                },
                "velocity": {
                    "x": -8.034143447875977,
                    "y": 0.047205232083797455,
                    "z": 0.03301563113927841
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23917818069458008,
        "expert_target_speed": 6.520301406705076,
        "target_point": [
            27.507006248705043,
            3.949860147792029
        ],
        "target_point_next": [
            31.856194663378215,
            4.0276882915994685
        ]
    },
    "460": {
        "acceleration": [
            0.3810691833496094,
            -0.8919232487678528,
            0.005038827657699585
        ],
        "angular_velocity": [
            -0.5886900424957275,
            0.2876352071762085,
            4.631211757659912
        ],
        "forward_vector": [
            -0.999936580657959,
            0.011157896369695663,
            0.001546024577692151
        ],
        "right_vector": [
            -0.011154288426041603,
            -0.9999351501464844,
            0.0023228037171065807
        ],
        "location": [
            -135.2429656982422,
            4295.3759765625,
            372.94256591796875
        ],
        "rotation": [
            -0.1330871284008026,
            0.08858072012662888,
            179.36068725585938
        ],
        "velocity": [
            -5.348546028137207,
            -0.034956395626068115,
            0.021350115537643433
        ],
        "speed": 5.348660258858985,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.83996868133545,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -148.08070373535156,
                4295.140625,
                372.9862060546875
            ],
            "velocity": [
                -0.00025174676557071507,
                -0.0002542737638577819,
                -0.002173428423702717
            ],
            "speed_kmh": 0.00792966721327011,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.447264671325684,
                "transform": {
                    "location": {
                        "x": -65.5883560180664,
                        "y": 4294.7421875,
                        "z": 372.6910095214844
                    },
                    "rotation": {
                        "roll": -0.017608642578125,
                        "pitch": 0.13984128832817078,
                        "yaw": -179.91030883789062
                    }
                },
                "velocity": {
                    "x": -6.4463114738464355,
                    "y": -0.05794602632522583,
                    "z": 0.09449172765016556
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -211.63201904296875,
                        "y": 4298.8671875,
                        "z": 373.2189636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -211.61265563964844,
                        "y": 4302.1171875,
                        "z": 373.2189636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.655448913574219,
                "transform": {
                    "location": {
                        "x": -174.5009307861328,
                        "y": 4336.1796875,
                        "z": 373.11529541015625
                    },
                    "rotation": {
                        "roll": 0.0013604508712887764,
                        "pitch": 0.019486527889966965,
                        "yaw": -89.82567596435547
                    }
                },
                "velocity": {
                    "x": 0.0182548426091671,
                    "y": -6.655423641204834,
                    "z": -0.0019436454167589545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.065122604370117,
                "transform": {
                    "location": {
                        "x": -82.93562316894531,
                        "y": 4294.75634765625,
                        "z": 372.732421875
                    },
                    "rotation": {
                        "roll": 0.0006157457246445119,
                        "pitch": 0.23463746905326843,
                        "yaw": 179.661865234375
                    }
                },
                "velocity": {
                    "x": -8.064915657043457,
                    "y": 0.04767870903015137,
                    "z": 0.03264438733458519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.404090881347656,
                "transform": {
                    "location": {
                        "x": -128.1835174560547,
                        "y": 4298.47509765625,
                        "z": 372.9119567871094
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": -0.22573773562908173,
                        "yaw": -0.3468322157859802
                    }
                },
                "velocity": {
                    "x": 13.403743743896484,
                    "y": -0.08098748326301575,
                    "z": -0.052492473274469376
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0022026854567229748,
                "transform": {
                    "location": {
                        "x": -148.08070373535156,
                        "y": 4295.140625,
                        "z": 372.9862060546875
                    },
                    "rotation": {
                        "roll": 0.00019524393428582698,
                        "pitch": -0.09878502041101456,
                        "yaw": 179.2957000732422
                    }
                },
                "velocity": {
                    "x": -0.00025174676557071507,
                    "y": -0.0002542737638577819,
                    "z": -0.002173428423702717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0028399324510246515,
                "transform": {
                    "location": {
                        "x": -159.9043731689453,
                        "y": 4295.2109375,
                        "z": 373.0334777832031
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.030312377959489822,
                        "yaw": 179.64952087402344
                    }
                },
                "velocity": {
                    "x": 0.0025925992522388697,
                    "y": -0.00010088855196954682,
                    "z": 0.0011547582689672709
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455610275268555,
                "transform": {
                    "location": {
                        "x": -111.83226013183594,
                        "y": 4301.6279296875,
                        "z": 372.8587951660156
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.22668713331222534,
                        "yaw": -0.34332275390625
                    }
                },
                "velocity": {
                    "x": 13.455263137817383,
                    "y": -0.08112543821334839,
                    "z": -0.0525842159986496
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.066736221313477,
                "transform": {
                    "location": {
                        "x": -116.10257720947266,
                        "y": 4294.95263671875,
                        "z": 372.86614990234375
                    },
                    "rotation": {
                        "roll": 0.0004126466519664973,
                        "pitch": 0.22667346894741058,
                        "yaw": 179.66331481933594
                    }
                },
                "velocity": {
                    "x": -8.0665283203125,
                    "y": 0.047395262867212296,
                    "z": 0.03328517824411392
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.31002676486968994,
        "expert_target_speed": 6.3278101764209085,
        "target_point": [
            26.19391060558304,
            3.597664736973762
        ],
        "target_point_next": [
            30.54373632137406,
            3.6203214917942583
        ]
    },
    "465": {
        "acceleration": [
            1.06475830078125,
            -0.7361286878585815,
            -0.011949948966503143
        ],
        "angular_velocity": [
            -0.10017747431993484,
            0.02497727982699871,
            8.225137710571289
        ],
        "forward_vector": [
            -0.9998223185539246,
            -0.01872321590781212,
            0.0021791441831737757
        ],
        "right_vector": [
            0.018732909113168716,
            -0.9998143315315247,
            0.004515628796070814
        ],
        "location": [
            -136.5539093017578,
            4295.34228515625,
            372.9475402832031
        ],
        "rotation": [
            -0.2587279677391052,
            0.12485585361719131,
            -178.9271697998047
        ],
        "velocity": [
            -5.1491217613220215,
            -0.2650124728679657,
            0.020656879991292953
        ],
        "speed": 5.155937017041189,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.630789756774902,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -148.18289184570312,
                4295.140625,
                372.98468017578125
            ],
            "velocity": [
                -1.000754952430725,
                0.0006043671164661646,
                0.009466390125453472
            ],
            "speed_kmh": 3.602879662978836,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.208260536193848,
                "transform": {
                    "location": {
                        "x": -67.169921875,
                        "y": 4294.7353515625,
                        "z": 372.7052307128906
                    },
                    "rotation": {
                        "roll": 0.004735057707875967,
                        "pitch": 0.21205687522888184,
                        "yaw": -179.78140258789062
                    }
                },
                "velocity": {
                    "x": -6.2081122398376465,
                    "y": -0.0170168187469244,
                    "z": 0.0393822006881237
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -209.7128143310547,
                        "y": 4298.8564453125,
                        "z": 373.2115783691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -209.6934356689453,
                        "y": 4302.1064453125,
                        "z": 373.2115783691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.127032279968262,
                "transform": {
                    "location": {
                        "x": -174.4949951171875,
                        "y": 4334.2353515625,
                        "z": 373.1145324707031
                    },
                    "rotation": {
                        "roll": 0.00040001992601901293,
                        "pitch": 0.07048755139112473,
                        "yaw": -89.8410873413086
                    }
                },
                "velocity": {
                    "x": 0.022274339571595192,
                    "y": -8.127001762390137,
                    "z": -0.0012734889751300216
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.034225463867188,
                "transform": {
                    "location": {
                        "x": -84.9477310180664,
                        "y": 4294.76806640625,
                        "z": 372.74066162109375
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": 0.23458966612815857,
                        "yaw": 179.65769958496094
                    }
                },
                "velocity": {
                    "x": -8.034013748168945,
                    "y": 0.048014745116233826,
                    "z": 0.03308381140232086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.378572463989258,
                "transform": {
                    "location": {
                        "x": -124.83695220947266,
                        "y": 4298.455078125,
                        "z": 372.8987731933594
                    },
                    "rotation": {
                        "roll": 0.0003292066394351423,
                        "pitch": -0.2262226790189743,
                        "yaw": -0.3399657905101776
                    }
                },
                "velocity": {
                    "x": 13.378228187561035,
                    "y": -0.0803540050983429,
                    "z": -0.05246591567993164
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.3203887939453,
                        "y": 4298.9482421875,
                        "z": 373.4674987792969
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.30108642578125,
                        "y": 4302.1982421875,
                        "z": 373.4674987792969
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0007998943328857,
                "transform": {
                    "location": {
                        "x": -148.18289184570312,
                        "y": 4295.140625,
                        "z": 372.98468017578125
                    },
                    "rotation": {
                        "roll": -0.0021972653921693563,
                        "pitch": 0.1716563105583191,
                        "yaw": 179.25601196289062
                    }
                },
                "velocity": {
                    "x": -1.000754952430725,
                    "y": 0.0006043671164661646,
                    "z": 0.009466390125453472
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005135926185175776,
                "transform": {
                    "location": {
                        "x": -159.9054718017578,
                        "y": 4295.2109375,
                        "z": 373.0330810546875
                    },
                    "rotation": {
                        "roll": 0.0004972551832906902,
                        "pitch": 0.13728679716587067,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0004329485818743706,
                    "y": 8.696353688719682e-06,
                    "z": 0.00027614718419499695
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455839157104492,
                "transform": {
                    "location": {
                        "x": -108.46906280517578,
                        "y": 4301.60791015625,
                        "z": 372.8453674316406
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.22900256514549255,
                        "yaw": -0.33984366059303284
                    }
                },
                "velocity": {
                    "x": 13.455498695373535,
                    "y": -0.07994352281093597,
                    "z": -0.05272110924124718
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.03591251373291,
                "transform": {
                    "location": {
                        "x": -118.11531066894531,
                        "y": 4294.96435546875,
                        "z": 372.87408447265625
                    },
                    "rotation": {
                        "roll": 0.00021174084395170212,
                        "pitch": 0.22648906707763672,
                        "yaw": 179.66331481933594
                    }
                },
                "velocity": {
                    "x": -8.03570556640625,
                    "y": 0.04723295196890831,
                    "z": 0.03314177319407463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5324745774269104,
        "expert_target_speed": 6.14716617690882,
        "target_point": [
            24.97836277720015,
            2.804297099545449
        ],
        "target_point_next": [
            29.32692346616312,
            2.696979716509209
        ]
    },
    "470": {
        "acceleration": [
            0.28227806091308594,
            -1.5111160278320312,
            -0.0027803704142570496
        ],
        "angular_velocity": [
            -0.5346190333366394,
            0.10702139884233475,
            11.840951919555664
        ],
        "forward_vector": [
            -0.9979982376098633,
            -0.0631885677576065,
            0.0025731297209858894
        ],
        "right_vector": [
            0.0632033497095108,
            -0.9979817867279053,
            0.00613799411803484
        ],
        "location": [
            -137.8230438232422,
            4295.24609375,
            372.95233154296875
        ],
        "rotation": [
            -0.3516845405101776,
            0.14742963016033173,
            -176.37713623046875
        ],
        "velocity": [
            -5.006531238555908,
            -0.5667836666107178,
            0.02074270136654377
        ],
        "speed": 5.038511562691193,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.671168327331543,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -148.49366760253906,
                4295.1435546875,
                372.9856872558594
            ],
            "velocity": [
                -1.2620000839233398,
                0.013701649382710457,
                0.0050631333142519
            ],
            "speed_kmh": 4.54350462386594,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -52.60663986206055,
                        "y": 4294.677734375,
                        "z": 372.9265441894531
                    },
                    "rotation": {
                        "roll": -5.211065953747429e-11,
                        "pitch": 0.23784767091274261,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.313265323638916,
                "transform": {
                    "location": {
                        "x": -68.671875,
                        "y": 4294.73046875,
                        "z": 372.7134704589844
                    },
                    "rotation": {
                        "roll": 0.003255588700994849,
                        "pitch": 0.14371399581432343,
                        "yaw": -179.8878631591797
                    }
                },
                "velocity": {
                    "x": -5.31318998336792,
                    "y": -0.013360044918954372,
                    "z": 0.02489498071372509
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -207.8612518310547,
                        "y": 4298.84521484375,
                        "z": 373.20458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2114899605512619,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -207.8418731689453,
                        "y": 4302.09521484375,
                        "z": 373.20458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2114899605512619,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.3614606857299805,
                "transform": {
                    "location": {
                        "x": -174.4914093017578,
                        "y": 4332.30224609375,
                        "z": 373.1148681640625
                    },
                    "rotation": {
                        "roll": 0.0014423573156818748,
                        "pitch": -0.034362681210041046,
                        "yaw": -89.90645599365234
                    }
                },
                "velocity": {
                    "x": 0.005781866144388914,
                    "y": -7.361457824707031,
                    "z": -0.001872110296972096
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.078739881515503,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.20904541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 1.8101813111570664e-05,
                    "y": -0.0010525648249313235,
                    "z": -2.078739643096924
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.071733474731445,
                "transform": {
                    "location": {
                        "x": -86.9614028930664,
                        "y": 4294.77978515625,
                        "z": 372.7489318847656
                    },
                    "rotation": {
                        "roll": 0.0005191487725824118,
                        "pitch": 0.23487652838230133,
                        "yaw": 179.65692138671875
                    }
                },
                "velocity": {
                    "x": -8.071520805358887,
                    "y": 0.04824461042881012,
                    "z": 0.03342250734567642
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.381336212158203,
                "transform": {
                    "location": {
                        "x": -121.49234008789062,
                        "y": 4298.435546875,
                        "z": 372.8855895996094
                    },
                    "rotation": {
                        "roll": 0.0003155362792313099,
                        "pitch": -0.22528012096881866,
                        "yaw": -0.3442077338695526
                    }
                },
                "velocity": {
                    "x": 13.380992889404297,
                    "y": -0.08003191649913788,
                    "z": -0.052899256348609924
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.4707794189453,
                        "y": 4298.93798828125,
                        "z": 373.27838134765625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.45140075683594,
                        "y": 4302.18798828125,
                        "z": 373.27838134765625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2620846033096313,
                "transform": {
                    "location": {
                        "x": -148.49366760253906,
                        "y": 4295.1435546875,
                        "z": 372.9856872558594
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": 0.21676969528198242,
                        "yaw": 179.38101196289062
                    }
                },
                "velocity": {
                    "x": -1.2620000839233398,
                    "y": 0.013701649382710457,
                    "z": 0.0050631333142519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0006836560205556452,
                "transform": {
                    "location": {
                        "x": -159.90577697753906,
                        "y": 4295.2109375,
                        "z": 373.0329284667969
                    },
                    "rotation": {
                        "roll": 0.001428379793651402,
                        "pitch": 0.17611642181873322,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0003608769038692117,
                    "y": -9.870091889752075e-05,
                    "z": 0.0005721988272853196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455893516540527,
                "transform": {
                    "location": {
                        "x": -105.10578155517578,
                        "y": 4301.5888671875,
                        "z": 372.8319396972656
                    },
                    "rotation": {
                        "roll": 0.000738904345780611,
                        "pitch": -0.2297675460577011,
                        "yaw": -0.3365173041820526
                    }
                },
                "velocity": {
                    "x": 13.45555591583252,
                    "y": -0.07942705601453781,
                    "z": -0.05274704471230507
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.071479797363281,
                "transform": {
                    "location": {
                        "x": -120.12913513183594,
                        "y": 4294.97607421875,
                        "z": 372.8820495605469
                    },
                    "rotation": {
                        "roll": 0.0003890755178872496,
                        "pitch": 0.22784143686294556,
                        "yaw": 179.66323852539062
                    }
                },
                "velocity": {
                    "x": -8.071272850036621,
                    "y": 0.047434400767087936,
                    "z": 0.03300271928310394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7594232559204102,
        "expert_target_speed": 6.033563088478248,
        "target_point": [
            23.80571977408383,
            1.6743823766844195
        ],
        "target_point_next": [
            28.145199537963148,
            1.3736957205492357
        ]
    },
    "475": {
        "acceleration": [
            -0.5206298828125,
            -2.161686420440674,
            -0.0103059783577919
        ],
        "angular_velocity": [
            -0.7845940589904785,
            0.2843727767467499,
            17.668046951293945
        ],
        "forward_vector": [
            -0.991732656955719,
            -0.1282816231250763,
            0.0031971875578165054
        ],
        "right_vector": [
            0.12830716371536255,
            -0.991686224937439,
            0.009786908514797688
        ],
        "location": [
            -139.06898498535156,
            4295.05615234375,
            372.95697021484375
        ],
        "rotation": [
            -0.5607603788375854,
            0.1831856667995453,
            -172.62965393066406
        ],
        "velocity": [
            -4.959019660949707,
            -1.0629222393035889,
            0.02079719491302967
        ],
        "speed": 5.071654531264122,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.914212226867676,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -148.98272705078125,
                4295.14794921875,
                372.9869384765625
            ],
            "velocity": [
                -2.631376028060913,
                0.015326772816479206,
                0.008932332508265972
            ],
            "speed_kmh": 9.473168967598484,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -54.23304748535156,
                        "y": 4294.6875,
                        "z": 372.7737731933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23711682856082916,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.0367431640625,
                "transform": {
                    "location": {
                        "x": -69.93820190429688,
                        "y": 4294.7275390625,
                        "z": 372.7186279296875
                    },
                    "rotation": {
                        "roll": 0.003245420753955841,
                        "pitch": 0.1854327917098999,
                        "yaw": -179.89321899414062
                    }
                },
                "velocity": {
                    "x": -5.036685466766357,
                    "y": -0.010320279747247696,
                    "z": 0.021834688261151314
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.667146682739258,
                "transform": {
                    "location": {
                        "x": -206.3063201904297,
                        "y": 4298.8388671875,
                        "z": 373.1946105957031
                    },
                    "rotation": {
                        "roll": -0.003509521484375,
                        "pitch": -0.25445184111595154,
                        "yaw": -0.2399597465991974
                    }
                },
                "velocity": {
                    "x": 5.666981220245361,
                    "y": 0.006216601002961397,
                    "z": -0.042819418013095856
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.615575313568115,
                "transform": {
                    "location": {
                        "x": -206.29795837402344,
                        "y": 4302.09130859375,
                        "z": 373.1979675292969
                    },
                    "rotation": {
                        "roll": -0.015380858443677425,
                        "pitch": -0.37991559505462646,
                        "yaw": -0.1322021633386612
                    }
                },
                "velocity": {
                    "x": 5.615516662597656,
                    "y": 0.009336846880614758,
                    "z": -0.023893417790532112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.878262996673584,
                "transform": {
                    "location": {
                        "x": -174.4891357421875,
                        "y": 4330.5390625,
                        "z": 373.1142883300781
                    },
                    "rotation": {
                        "roll": 0.00022989029821474105,
                        "pitch": -0.049867209047079086,
                        "yaw": -89.9505844116211
                    }
                },
                "velocity": {
                    "x": 0.003973288927227259,
                    "y": -6.878261566162109,
                    "z": -0.0025411508977413177
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1395607739686966,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.1273498535156
                    },
                    "rotation": {
                        "roll": 3.1641320674680173e-05,
                        "pitch": 0.03056509420275688,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": -6.38671190245077e-05,
                    "y": 7.649702456546947e-05,
                    "z": 0.1395607441663742
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.036151885986328,
                "transform": {
                    "location": {
                        "x": -88.97492218017578,
                        "y": 4294.79150390625,
                        "z": 372.75714111328125
                    },
                    "rotation": {
                        "roll": 0.00043332716450095177,
                        "pitch": 0.23493801057338715,
                        "yaw": 179.65708923339844
                    }
                },
                "velocity": {
                    "x": -8.035941123962402,
                    "y": 0.04806755110621452,
                    "z": 0.03281687572598457
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385113716125488,
                "transform": {
                    "location": {
                        "x": -118.14671325683594,
                        "y": 4298.416015625,
                        "z": 372.8724060058594
                    },
                    "rotation": {
                        "roll": 0.0005991833168081939,
                        "pitch": -0.22616121172904968,
                        "yaw": -0.344390869140625
                    }
                },
                "velocity": {
                    "x": 13.38476276397705,
                    "y": -0.08112312853336334,
                    "z": -0.05317412316799164
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.80796813964844,
                        "y": 4298.92822265625,
                        "z": 373.2666015625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.66717529296875,
                        "y": 4302.177734375,
                        "z": 373.2657470703125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6314358711242676,
                "transform": {
                    "location": {
                        "x": -148.98272705078125,
                        "y": 4295.14794921875,
                        "z": 372.9869384765625
                    },
                    "rotation": {
                        "roll": -0.0016784663312137127,
                        "pitch": 0.28132182359695435,
                        "yaw": 179.48036193847656
                    }
                },
                "velocity": {
                    "x": -2.631376028060913,
                    "y": 0.015326772816479206,
                    "z": 0.008932332508265972
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.45587158203125,
                "transform": {
                    "location": {
                        "x": -101.74250030517578,
                        "y": 4301.56884765625,
                        "z": 372.81842041015625
                    },
                    "rotation": {
                        "roll": 0.00026470082229934633,
                        "pitch": -0.2300407588481903,
                        "yaw": -0.3383178412914276
                    }
                },
                "velocity": {
                    "x": 13.455533981323242,
                    "y": -0.07927029579877853,
                    "z": -0.05282256379723549
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.212681770324707,
                "transform": {
                    "location": {
                        "x": -122.0609359741211,
                        "y": 4294.98779296875,
                        "z": 372.88983154296875
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": 0.20987804234027863,
                        "yaw": 179.66343688964844
                    }
                },
                "velocity": {
                    "x": -7.212498664855957,
                    "y": 0.04237421602010727,
                    "z": 0.02902480959892273
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8888723850250244,
        "expert_target_speed": 6.0558183321724774,
        "target_point": [
            22.604241779752062,
            0.08633912707554137
        ],
        "target_point_next": [
            26.91479022248449,
            -0.49732962243303147
        ]
    },
    "480": {
        "acceleration": [
            0.9222698211669922,
            -0.9640884399414062,
            0.003340691328048706
        ],
        "angular_velocity": [
            0.4909442067146301,
            0.2526377737522125,
            17.18686866760254
        ],
        "forward_vector": [
            -0.9784879088401794,
            -0.20630380511283875,
            0.0003983974165748805
        ],
        "right_vector": [
            0.20629839599132538,
            -0.9784440994262695,
            0.009386438876390457
        ],
        "location": [
            -140.16453552246094,
            4294.77490234375,
            372.9615173339844
        ],
        "rotation": [
            -0.537811279296875,
            0.02282649092376232,
            -168.0941619873047
        ],
        "velocity": [
            -4.149393081665039,
            -1.3199273347854614,
            0.016278866678476334
        ],
        "speed": 4.354270445813344,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.644302368164062,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -149.80133056640625,
                4295.154296875,
                372.9898681640625
            ],
            "velocity": [
                -3.840175151824951,
                0.021164879202842712,
                0.014360866509377956
            ],
            "speed_kmh": 13.824937179150904,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -55.54374694824219,
                        "y": 4294.6953125,
                        "z": 372.6507873535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23711682856082916,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.4312744140625,
                "transform": {
                    "location": {
                        "x": -71.26515197753906,
                        "y": 4294.7255859375,
                        "z": 372.7235412597656
                    },
                    "rotation": {
                        "roll": 0.00682074623182416,
                        "pitch": 0.25768253207206726,
                        "yaw": -179.9459228515625
                    }
                },
                "velocity": {
                    "x": -5.431227207183838,
                    "y": 0.005736630875617266,
                    "z": 0.021983623504638672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.898592948913574,
                "transform": {
                    "location": {
                        "x": -204.85960388183594,
                        "y": 4298.84130859375,
                        "z": 373.1864013671875
                    },
                    "rotation": {
                        "roll": -0.006103515159338713,
                        "pitch": -0.21765080094337463,
                        "yaw": 0.10870242863893509
                    }
                },
                "velocity": {
                    "x": 5.8984293937683105,
                    "y": 0.036332789808511734,
                    "z": -0.024595502763986588
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.850987434387207,
                "transform": {
                    "location": {
                        "x": -204.86233520507812,
                        "y": 4302.09716796875,
                        "z": 373.1924133300781
                    },
                    "rotation": {
                        "roll": -0.014373778365552425,
                        "pitch": -0.24936336278915405,
                        "yaw": 0.18504638969898224
                    }
                },
                "velocity": {
                    "x": 5.850860595703125,
                    "y": 0.032083407044410706,
                    "z": -0.021325677633285522
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.950178146362305,
                "transform": {
                    "location": {
                        "x": -174.488037109375,
                        "y": 4328.80712890625,
                        "z": 373.1134033203125
                    },
                    "rotation": {
                        "roll": -0.00021362352708820254,
                        "pitch": -0.03530524671077728,
                        "yaw": -89.96505737304688
                    }
                },
                "velocity": {
                    "x": 0.004140969831496477,
                    "y": -6.95017671585083,
                    "z": -0.0024310587905347347
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9248356223106384,
                "transform": {
                    "location": {
                        "x": -174.56375122070312,
                        "y": 4349.21728515625,
                        "z": 373.15045166015625
                    },
                    "rotation": {
                        "roll": -0.004608157090842724,
                        "pitch": 0.10486388951539993,
                        "yaw": -90.01354217529297
                    }
                },
                "velocity": {
                    "x": 0.01670478656888008,
                    "y": -0.9235124588012695,
                    "z": 0.0465468093752861
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.069572448730469,
                "transform": {
                    "location": {
                        "x": -90.98835754394531,
                        "y": 4294.80322265625,
                        "z": 372.765380859375
                    },
                    "rotation": {
                        "roll": 0.0007595087517984211,
                        "pitch": 0.23436427116394043,
                        "yaw": 179.65684509277344
                    }
                },
                "velocity": {
                    "x": -8.069361686706543,
                    "y": 0.04825723171234131,
                    "z": 0.032668933272361755
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385369300842285,
                "transform": {
                    "location": {
                        "x": -114.80101013183594,
                        "y": 4298.39697265625,
                        "z": 372.8591613769531
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.22659151256084442,
                        "yaw": -0.3532104194164276
                    }
                },
                "velocity": {
                    "x": 13.385019302368164,
                    "y": -0.08144431561231613,
                    "z": -0.052338313311338425
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.2079620361328,
                        "y": 4298.91845703125,
                        "z": 373.25531005859375
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.02764892578125,
                        "y": 4302.16796875,
                        "z": 373.25421142578125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.8402602672576904,
                "transform": {
                    "location": {
                        "x": -149.80133056640625,
                        "y": 4295.154296875,
                        "z": 372.9898681640625
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.288595974445343,
                        "yaw": 179.66294860839844
                    }
                },
                "velocity": {
                    "x": -3.840175151824951,
                    "y": 0.021164879202842712,
                    "z": 0.014360866509377956
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.45586109161377,
                "transform": {
                    "location": {
                        "x": -98.37921905517578,
                        "y": 4301.54931640625,
                        "z": 372.80487060546875
                    },
                    "rotation": {
                        "roll": -0.00042724612285383046,
                        "pitch": -0.23235619068145752,
                        "yaw": -0.3362426459789276
                    }
                },
                "velocity": {
                    "x": 13.455523490905762,
                    "y": -0.07923798263072968,
                    "z": -0.052967995405197144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.234025001525879,
                "transform": {
                    "location": {
                        "x": -123.66500091552734,
                        "y": 4294.99755859375,
                        "z": 372.8963623046875
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.18682615458965302,
                        "yaw": 179.7672119140625
                    }
                },
                "velocity": {
                    "x": -5.233931541442871,
                    "y": 0.023743202909827232,
                    "z": 0.020368708297610283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8406323790550232,
        "expert_target_speed": 5.386788113828003,
        "target_point": [
            21.410278950190975,
            -1.7505815221267436
        ],
        "target_point_next": [
            25.66117454062657,
            -2.6732861148925378
        ]
    },
    "485": {
        "acceleration": [
            -0.1362895965576172,
            0.11459589004516602,
            0.002337843179702759
        ],
        "angular_velocity": [
            0.9543245434761047,
            0.6540525555610657,
            8.436666488647461
        ],
        "forward_vector": [
            -0.9658241271972656,
            -0.25918903946876526,
            0.002179739996790886
        ],
        "right_vector": [
            0.2591957151889801,
            -0.9658176302909851,
            0.0037363965529948473
        ],
        "location": [
            -141.2010955810547,
            4294.45263671875,
            372.96502685546875
        ],
        "rotation": [
            -0.21408075094223022,
            0.12488999962806702,
            -164.97801208496094
        ],
        "velocity": [
            -4.137306213378906,
            -1.3453369140625,
            0.017107829451560974
        ],
        "speed": 4.350544117188437,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.116497993469238,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -150.2906951904297,
                4295.15185546875,
                372.9933166503906
            ],
            "velocity": [
                3.06498259305954e-05,
                -0.00034476531436666846,
                -0.001448197872377932
            ],
            "speed_kmh": 0.005360349966511833,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -57.18827819824219,
                        "y": 4294.705078125,
                        "z": 372.65045166015625
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.2363860011100769,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.928110599517822,
                "transform": {
                    "location": {
                        "x": -72.98312377929688,
                        "y": 4294.7275390625,
                        "z": 372.7289733886719
                    },
                    "rotation": {
                        "roll": 0.004044748842716217,
                        "pitch": 0.43472784757614136,
                        "yaw": 179.91319274902344
                    }
                },
                "velocity": {
                    "x": -7.928030014038086,
                    "y": 0.014792054891586304,
                    "z": 0.0325942300260067
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.661702632904053,
                "transform": {
                    "location": {
                        "x": -203.41554260253906,
                        "y": 4298.84814453125,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -0.21279452741146088,
                        "yaw": 0.34390148520469666
                    }
                },
                "velocity": {
                    "x": 5.661606788635254,
                    "y": 0.02537698484957218,
                    "z": -0.02092919871211052
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.266026973724365,
                "transform": {
                    "location": {
                        "x": -203.45132446289062,
                        "y": 4302.10498046875,
                        "z": 373.1871337890625
                    },
                    "rotation": {
                        "roll": 0.0012509729713201523,
                        "pitch": -0.2807890474796295,
                        "yaw": 0.26357460021972656
                    }
                },
                "velocity": {
                    "x": 5.265960693359375,
                    "y": 0.016347486525774002,
                    "z": -0.02076760306954384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.526599884033203,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4327.119140625,
                        "z": 373.1127014160156
                    },
                    "rotation": {
                        "roll": 0.00014122955326456577,
                        "pitch": -0.04836456850171089,
                        "yaw": -89.99773406982422
                    }
                },
                "velocity": {
                    "x": -0.0019430737011134624,
                    "y": -6.526599407196045,
                    "z": -0.0014482020633295178
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8757598400115967,
                "transform": {
                    "location": {
                        "x": -174.56007385253906,
                        "y": 4348.85498046875,
                        "z": 373.1557312011719
                    },
                    "rotation": {
                        "roll": -0.0005188022623769939,
                        "pitch": 0.1333184540271759,
                        "yaw": -89.86911010742188
                    }
                },
                "velocity": {
                    "x": 0.01591024175286293,
                    "y": -1.8756707906723022,
                    "z": 0.008991183713078499
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035318374633789,
                "transform": {
                    "location": {
                        "x": -93.00125122070312,
                        "y": 4294.81494140625,
                        "z": 372.7735900878906
                    },
                    "rotation": {
                        "roll": 2.0243522158125415e-05,
                        "pitch": 0.23239034414291382,
                        "yaw": 179.65420532226562
                    }
                },
                "velocity": {
                    "x": -8.03510570526123,
                    "y": 0.04850764200091362,
                    "z": 0.03272252157330513
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.384946823120117,
                "transform": {
                    "location": {
                        "x": -111.45530700683594,
                        "y": 4298.376953125,
                        "z": 372.8459167480469
                    },
                    "rotation": {
                        "roll": -3.051759267691523e-05,
                        "pitch": -0.22717207670211792,
                        "yaw": -0.3495788276195526
                    }
                },
                "velocity": {
                    "x": 13.384592056274414,
                    "y": -0.0819295197725296,
                    "z": -0.052674468606710434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.70265197753906,
                        "y": 4298.90966796875,
                        "z": 373.2469482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.60272216796875,
                        "y": 4302.15966796875,
                        "z": 373.2458801269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014889860758557916,
                "transform": {
                    "location": {
                        "x": -150.2906951904297,
                        "y": 4295.15185546875,
                        "z": 372.9933166503906
                    },
                    "rotation": {
                        "roll": 0.0021635862067341805,
                        "pitch": 0.024861887097358704,
                        "yaw": 179.10874938964844
                    }
                },
                "velocity": {
                    "x": 3.06498259305954e-05,
                    "y": -0.00034476531436666846,
                    "z": -0.001448197872377932
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455902099609375,
                "transform": {
                    "location": {
                        "x": -95.01593780517578,
                        "y": 4301.52978515625,
                        "z": 372.7912292480469
                    },
                    "rotation": {
                        "roll": 0.0002890008909162134,
                        "pitch": -0.23266355693340302,
                        "yaw": -0.3417052626609802
                    }
                },
                "velocity": {
                    "x": 13.455558776855469,
                    "y": -0.07994566857814789,
                    "z": -0.05322469025850296
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0239436626434326,
                "transform": {
                    "location": {
                        "x": -124.52265167236328,
                        "y": 4295.00048828125,
                        "z": 372.8995666503906
                    },
                    "rotation": {
                        "roll": 9.935742127709091e-05,
                        "pitch": 0.17170411348342896,
                        "yaw": 179.90187072753906
                    }
                },
                "velocity": {
                    "x": -3.0238845348358154,
                    "y": 0.015042736195027828,
                    "z": 0.011481532827019691
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8603460788726807,
        "expert_target_speed": 5.376286964567819,
        "target_point": [
            20.19879568710064,
            -2.9544392037084175
        ],
        "target_point_next": [
            24.39324791207711,
            -4.106857365091612
        ]
    },
    "490": {
        "acceleration": [
            -0.42077064514160156,
            0.7838559150695801,
            -0.018001757562160492
        ],
        "angular_velocity": [
            0.8364517092704773,
            0.4257734417915344,
            -1.442207932472229
        ],
        "forward_vector": [
            -0.9624873995780945,
            -0.2713058590888977,
            0.003340953029692173
        ],
        "right_vector": [
            0.2712998688220978,
            -0.9624924659729004,
            -0.002136936876922846
        ],
        "location": [
            -142.24937438964844,
            4294.14306640625,
            372.9688720703125
        ],
        "rotation": [
            0.12243824452161789,
            0.19142286479473114,
            -164.25791931152344
        ],
        "velocity": [
            -4.232104301452637,
            -1.1693452596664429,
            0.01690296083688736
        ],
        "speed": 4.390680488794224,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.388691902160645,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -150.57679748535156,
                4295.15478515625,
                372.9932861328125
            ],
            "velocity": [
                -1.6267526149749756,
                0.010249391198158264,
                0.006366901099681854
            ],
            "speed_kmh": 5.8564705040490015,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -59.24546813964844,
                        "y": 4294.71728515625,
                        "z": 372.6483154296875
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.2363860011100769,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.289451599121094,
                "transform": {
                    "location": {
                        "x": -75.06187438964844,
                        "y": 4294.73095703125,
                        "z": 372.7386169433594
                    },
                    "rotation": {
                        "roll": 0.0027126409113407135,
                        "pitch": 0.3202265799045563,
                        "yaw": 179.87106323242188
                    }
                },
                "velocity": {
                    "x": -8.289362907409668,
                    "y": 0.01886594481766224,
                    "z": 0.03337552770972252
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.44001579284668,
                "transform": {
                    "location": {
                        "x": -201.99647521972656,
                        "y": 4298.853515625,
                        "z": 373.17578125
                    },
                    "rotation": {
                        "roll": -0.0014648435171693563,
                        "pitch": -0.22262316942214966,
                        "yaw": 0.2816700041294098
                    }
                },
                "velocity": {
                    "x": 5.439959526062012,
                    "y": 0.013219119049608707,
                    "z": -0.020925726741552353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.126074314117432,
                "transform": {
                    "location": {
                        "x": -202.18069458007812,
                        "y": 4302.107421875,
                        "z": 373.182373046875
                    },
                    "rotation": {
                        "roll": 0.002618216909468174,
                        "pitch": -0.2517402768135071,
                        "yaw": 0.18237972259521484
                    }
                },
                "velocity": {
                    "x": 5.126035213470459,
                    "y": 0.008333035744726658,
                    "z": -0.01818917691707611
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.328461170196533,
                "transform": {
                    "location": {
                        "x": -174.48765563964844,
                        "y": 4325.5205078125,
                        "z": 373.1117858886719
                    },
                    "rotation": {
                        "roll": -0.0005187994102016091,
                        "pitch": -0.05367845296859741,
                        "yaw": -90.01618194580078
                    }
                },
                "velocity": {
                    "x": -0.0018634990556165576,
                    "y": -6.328458309173584,
                    "z": -0.0057662674225866795
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.01598858833313,
                "transform": {
                    "location": {
                        "x": -174.5558624267578,
                        "y": 4348.24560546875,
                        "z": 373.15679931640625
                    },
                    "rotation": {
                        "roll": -0.0019226112635806203,
                        "pitch": 0.14949917793273926,
                        "yaw": -89.75826263427734
                    }
                },
                "velocity": {
                    "x": 0.026472406461834908,
                    "y": -3.01587176322937,
                    "z": 0.001707162824459374
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0706148147583,
                "transform": {
                    "location": {
                        "x": -95.01483917236328,
                        "y": 4294.82666015625,
                        "z": 372.78167724609375
                    },
                    "rotation": {
                        "roll": -3.0517550840158947e-05,
                        "pitch": 0.2326020747423172,
                        "yaw": 179.65145874023438
                    }
                },
                "velocity": {
                    "x": -8.07039737701416,
                    "y": 0.04910072311758995,
                    "z": 0.03311207517981529
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.384891510009766,
                "transform": {
                    "location": {
                        "x": -108.10960388183594,
                        "y": 4298.35595703125,
                        "z": 372.83258056640625
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": -0.22930993139743805,
                        "yaw": -0.3550109267234802
                    }
                },
                "velocity": {
                    "x": 13.38453483581543,
                    "y": -0.08219347149133682,
                    "z": -0.0528847835958004
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.54998779296875,
                        "y": 4298.90283203125,
                        "z": 373.24224853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.32640075683594,
                        "y": 4302.15234375,
                        "z": 373.2409362792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6267974376678467,
                "transform": {
                    "location": {
                        "x": -150.57679748535156,
                        "y": 4295.15478515625,
                        "z": 372.9932861328125
                    },
                    "rotation": {
                        "roll": 0.00028358024428598583,
                        "pitch": 0.21695411205291748,
                        "yaw": 179.27809143066406
                    }
                },
                "velocity": {
                    "x": -1.6267526149749756,
                    "y": 0.010249391198158264,
                    "z": 0.006366901099681854
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.45600414276123,
                "transform": {
                    "location": {
                        "x": -91.65265655517578,
                        "y": 4301.5107421875,
                        "z": 372.7776184082031
                    },
                    "rotation": {
                        "roll": 7.632608321728185e-05,
                        "pitch": -0.23282064497470856,
                        "yaw": -0.3451842665672302
                    }
                },
                "velocity": {
                    "x": 13.455655097961426,
                    "y": -0.08101511001586914,
                    "z": -0.05333391949534416
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.658717632293701,
                "transform": {
                    "location": {
                        "x": -125.35546875,
                        "y": 4295.0048828125,
                        "z": 372.9024963378906
                    },
                    "rotation": {
                        "roll": 5.7448054576525465e-05,
                        "pitch": 0.23036861419677734,
                        "yaw": 179.8093719482422
                    }
                },
                "velocity": {
                    "x": -3.6586217880249023,
                    "y": 0.022338559851050377,
                    "z": 0.014247912913560867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9403586387634277,
        "expert_target_speed": 5.404935818621574,
        "target_point": [
            19.067120591850557,
            -3.2216114123378876
        ],
        "target_point_next": [
            23.24675834810254,
            -4.426653035191132
        ]
    },
    "495": {
        "acceleration": [
            -0.4981708526611328,
            0.6460416316986084,
            0.002262704074382782
        ],
        "angular_velocity": [
            0.11992605775594711,
            0.13019783794879913,
            -6.944023132324219
        ],
        "forward_vector": [
            -0.9683470726013184,
            -0.24957795441150665,
            0.0038441321812570095
        ],
        "right_vector": [
            0.24955664575099945,
            -0.9683457612991333,
            -0.0052856216207146645
        ],
        "location": [
            -143.3214874267578,
            4293.87939453125,
            372.9727783203125
        ],
        "rotation": [
            0.3028474748134613,
            0.2202530950307846,
            -165.54734802246094
        ],
        "velocity": [
            -4.347315788269043,
            -0.9448624849319458,
            0.01732032746076584
        ],
        "speed": 4.448811040982193,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.695291519165039,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -150.909912109375,
                4295.1572265625,
                372.9944152832031
            ],
            "velocity": [
                -1.2600066661834717,
                0.010928449220955372,
                0.005748910829424858
            ],
            "speed_kmh": 4.536241821846729,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -61.25929641723633,
                        "y": 4294.72900390625,
                        "z": 372.6501159667969
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8001909255981445,
                "transform": {
                    "location": {
                        "x": -77.05992126464844,
                        "y": 4294.736328125,
                        "z": 372.7476806640625
                    },
                    "rotation": {
                        "roll": 0.004398138727992773,
                        "pitch": 0.21437230706214905,
                        "yaw": 179.84654235839844
                    }
                },
                "velocity": {
                    "x": -7.800066947937012,
                    "y": 0.029561445116996765,
                    "z": 0.03251897916197777
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.49407434463501,
                "transform": {
                    "location": {
                        "x": -200.6535186767578,
                        "y": 4298.85693359375,
                        "z": 373.1707763671875
                    },
                    "rotation": {
                        "roll": -0.002685546875,
                        "pitch": -0.21092988550662994,
                        "yaw": 0.17662212252616882
                    }
                },
                "velocity": {
                    "x": 5.494026184082031,
                    "y": 0.009463520720601082,
                    "z": -0.02090158499777317
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.1852641105651855,
                "transform": {
                    "location": {
                        "x": -200.82334899902344,
                        "y": 4302.109375,
                        "z": 373.1776428222656
                    },
                    "rotation": {
                        "roll": 0.0009468435891903937,
                        "pitch": -0.09985052794218063,
                        "yaw": 0.07452093809843063
                    }
                },
                "velocity": {
                    "x": 6.185220718383789,
                    "y": 0.006835313513875008,
                    "z": -0.022180994972586632
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.155778884887695,
                "transform": {
                    "location": {
                        "x": -174.48765563964844,
                        "y": 4323.9580078125,
                        "z": 373.1106262207031
                    },
                    "rotation": {
                        "roll": 0.00010337502317270264,
                        "pitch": -0.05407460406422615,
                        "yaw": -90.0216064453125
                    }
                },
                "velocity": {
                    "x": -0.003503149375319481,
                    "y": -6.1557745933532715,
                    "z": -0.006261338945478201
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.409775257110596,
                "transform": {
                    "location": {
                        "x": -174.54843139648438,
                        "y": 4347.30517578125,
                        "z": 373.1570739746094
                    },
                    "rotation": {
                        "roll": -0.0020751997362822294,
                        "pitch": 0.17319992184638977,
                        "yaw": -89.65036010742188
                    }
                },
                "velocity": {
                    "x": 0.039254382252693176,
                    "y": -4.409600257873535,
                    "z": 0.0013611030299216509
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035711288452148,
                "transform": {
                    "location": {
                        "x": -97.02828216552734,
                        "y": 4294.83837890625,
                        "z": 372.7898864746094
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": 0.23183026909828186,
                        "yaw": 179.65106201171875
                    }
                },
                "velocity": {
                    "x": -8.035493850708008,
                    "y": 0.04894045740365982,
                    "z": 0.03326807916164398
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.384944915771484,
                "transform": {
                    "location": {
                        "x": -104.76390075683594,
                        "y": 4298.3349609375,
                        "z": 372.8191833496094
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.2290913611650467,
                        "yaw": -0.3492736518383026
                    }
                },
                "velocity": {
                    "x": 13.38459300994873,
                    "y": -0.08129362016916275,
                    "z": -0.05304178223013878
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.9499969482422,
                        "y": 4298.89306640625,
                        "z": 373.23577880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.7362518310547,
                        "y": 4302.142578125,
                        "z": 373.23468017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2600672245025635,
                "transform": {
                    "location": {
                        "x": -150.909912109375,
                        "y": 4295.1572265625,
                        "z": 372.9944152832031
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.21182464063167572,
                        "yaw": 179.30328369140625
                    }
                },
                "velocity": {
                    "x": -1.2600066661834717,
                    "y": 0.010928449220955372,
                    "z": 0.005748910829424858
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.456033706665039,
                "transform": {
                    "location": {
                        "x": -88.2894515991211,
                        "y": 4301.490234375,
                        "z": 372.76397705078125
                    },
                    "rotation": {
                        "roll": 0.0019763540476560593,
                        "pitch": -0.23483555018901825,
                        "yaw": -0.3538207709789276
                    }
                },
                "velocity": {
                    "x": 13.455663681030273,
                    "y": -0.08378423750400543,
                    "z": -0.05421627312898636
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.303709506988525,
                "transform": {
                    "location": {
                        "x": -126.3606185913086,
                        "y": 4295.009765625,
                        "z": 372.90625
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": 0.24049094319343567,
                        "yaw": 179.7368927001953
                    }
                },
                "velocity": {
                    "x": -4.303597927093506,
                    "y": 0.02630363591015339,
                    "z": 0.016338758170604706
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.99900221824646,
        "expert_target_speed": 5.448986013402612,
        "target_point": [
            18.03079428697163,
            -2.7794890289360135
        ],
        "target_point_next": [
            22.23649007487422,
            -3.890173514248682
        ]
    },
    "500": {
        "acceleration": [
            -0.9293651580810547,
            0.04940509796142578,
            0.010441020131111145
        ],
        "angular_velocity": [
            -0.41365620493888855,
            0.10906625539064407,
            -5.911202907562256
        ],
        "forward_vector": [
            -0.9752725958824158,
            -0.22095844149589539,
            0.004551394376903772
        ],
        "right_vector": [
            0.22093866765499115,
            -0.9752774238586426,
            -0.004474084358662367
        ],
        "location": [
            -144.43016052246094,
            4293.6494140625,
            372.97674560546875
        ],
        "rotation": [
            0.25634968280792236,
            0.2607766091823578,
            -167.23452758789062
        ],
        "velocity": [
            -4.540863037109375,
            -0.8736231923103333,
            0.0175583828240633
        ],
        "speed": 4.624138255278347,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.675278186798096,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -150.93289184570312,
                4295.1572265625,
                372.9947204589844
            ],
            "velocity": [
                0.0001676380925346166,
                0.00023265488562174141,
                -0.0007689545745961368
            ],
            "speed_kmh": 0.002954461820551026,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -63.23171615600586,
                        "y": 4294.7412109375,
                        "z": 372.6575012207031
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.119483947753906,
                "transform": {
                    "location": {
                        "x": -79.04203033447266,
                        "y": 4294.74365234375,
                        "z": 372.7555847167969
                    },
                    "rotation": {
                        "roll": 0.0026426538825035095,
                        "pitch": 0.2573956549167633,
                        "yaw": 179.76470947265625
                    }
                },
                "velocity": {
                    "x": -8.119340896606445,
                    "y": 0.03500572592020035,
                    "z": 0.03318696841597557
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.30703592300415,
                "transform": {
                    "location": {
                        "x": -199.16030883789062,
                        "y": 4298.85986328125,
                        "z": 373.16497802734375
                    },
                    "rotation": {
                        "roll": -0.0019531244179233909,
                        "pitch": -0.18032380938529968,
                        "yaw": 0.08423252403736115
                    }
                },
                "velocity": {
                    "x": 6.306994438171387,
                    "y": 0.007539557758718729,
                    "z": -0.02157427743077278
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.530639171600342,
                "transform": {
                    "location": {
                        "x": -199.1442108154297,
                        "y": 4302.111328125,
                        "z": 373.1715087890625
                    },
                    "rotation": {
                        "roll": 0.0005188225186429918,
                        "pitch": -0.13970467448234558,
                        "yaw": 0.05793536826968193
                    }
                },
                "velocity": {
                    "x": 6.530590057373047,
                    "y": 0.005947848316282034,
                    "z": -0.024700211361050606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.943520545959473,
                "transform": {
                    "location": {
                        "x": -174.48843383789062,
                        "y": 4322.4453125,
                        "z": 373.1095275878906
                    },
                    "rotation": {
                        "roll": 0.00034538161708042026,
                        "pitch": -0.05953875556588173,
                        "yaw": -90.0322265625
                    }
                },
                "velocity": {
                    "x": -0.0033506564795970917,
                    "y": -5.943517208099365,
                    "z": -0.00507258391007781
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.263718128204346,
                "transform": {
                    "location": {
                        "x": -174.5380401611328,
                        "y": 4346.05126953125,
                        "z": 373.15826416015625
                    },
                    "rotation": {
                        "roll": -0.001678476925007999,
                        "pitch": 0.13592076301574707,
                        "yaw": -89.56484985351562
                    }
                },
                "velocity": {
                    "x": 0.04731236398220062,
                    "y": -5.263504981994629,
                    "z": 0.0021371745970100164
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.069683074951172,
                "transform": {
                    "location": {
                        "x": -99.04171752929688,
                        "y": 4294.85009765625,
                        "z": 372.79803466796875
                    },
                    "rotation": {
                        "roll": 2.0437792045413516e-06,
                        "pitch": 0.23279333114624023,
                        "yaw": 179.6510467529297
                    }
                },
                "velocity": {
                    "x": -8.069465637207031,
                    "y": 0.04913239926099777,
                    "z": 0.03323473781347275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.384988784790039,
                "transform": {
                    "location": {
                        "x": -101.41819763183594,
                        "y": 4298.3154296875,
                        "z": 372.8058166503906
                    },
                    "rotation": {
                        "roll": 0.0007437228341586888,
                        "pitch": -0.22985634207725525,
                        "yaw": -0.3489379584789276
                    }
                },
                "velocity": {
                    "x": 13.38464069366455,
                    "y": -0.08102504909038544,
                    "z": -0.052603330463171005
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -214.79733276367188,
                        "y": 4298.88623046875,
                        "z": 373.2310791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -214.02734375,
                        "y": 4302.13232421875,
                        "z": 373.22808837890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008206838392652571,
                "transform": {
                    "location": {
                        "x": -150.93289184570312,
                        "y": 4295.1572265625,
                        "z": 372.9947204589844
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.15904094278812408,
                        "yaw": 179.30271911621094
                    }
                },
                "velocity": {
                    "x": 0.0001676380925346166,
                    "y": 0.00023265488562174141,
                    "z": -0.0007689545745961368
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455997467041016,
                "transform": {
                    "location": {
                        "x": -84.9261703491211,
                        "y": 4301.46875,
                        "z": 372.75030517578125
                    },
                    "rotation": {
                        "roll": 0.0008621379383839667,
                        "pitch": -0.23553906381130219,
                        "yaw": -0.3583069145679474
                    }
                },
                "velocity": {
                    "x": 13.45561695098877,
                    "y": -0.0838664323091507,
                    "z": -0.05659551918506622
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.474193096160889,
                "transform": {
                    "location": {
                        "x": -127.4496841430664,
                        "y": 4295.015625,
                        "z": 372.91064453125
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.23074427247047424,
                        "yaw": 179.69151306152344
                    }
                },
                "velocity": {
                    "x": -4.474071025848389,
                    "y": 0.028139647096395493,
                    "z": 0.01728568971157074
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9993137121200562,
        "expert_target_speed": 5.59829478669763,
        "target_point": [
            16.972726979195084,
            -2.2267294389141936
        ],
        "target_point_next": [
            21.20930114230137,
            -3.2131048475675614
        ]
    },
    "505": {
        "acceleration": [
            -1.3721752166748047,
            0.18262743949890137,
            0.0064718350768089294
        ],
        "angular_velocity": [
            -0.03567051514983177,
            0.21486932039260864,
            -5.350765228271484
        ],
        "forward_vector": [
            -0.9802323579788208,
            -0.19777579605579376,
            0.005414935760200024
        ],
        "right_vector": [
            0.19775786995887756,
            -0.9802440404891968,
            -0.003675031242892146
        ],
        "location": [
            -145.60101318359375,
            4293.42919921875,
            372.98101806640625
        ],
        "rotation": [
            0.21056734025478363,
            0.3102544844150543,
            -168.59291076660156
        ],
        "velocity": [
            -4.839685440063477,
            -0.8417914509773254,
            0.017749805003404617
        ],
        "speed": 4.912348522417859,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 75.92894744873047,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -65.26789093017578,
                        "y": 4294.7529296875,
                        "z": 372.66522216796875
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.055171966552734,
                "transform": {
                    "location": {
                        "x": -81.07679748535156,
                        "y": 4294.75244140625,
                        "z": 372.7641296386719
                    },
                    "rotation": {
                        "roll": 0.0012170077534392476,
                        "pitch": 0.23967815935611725,
                        "yaw": 179.7686309814453
                    }
                },
                "velocity": {
                    "x": -8.055028915405273,
                    "y": 0.03460058197379112,
                    "z": 0.033216189593076706
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.644633769989014,
                "transform": {
                    "location": {
                        "x": -197.6610107421875,
                        "y": 4298.86083984375,
                        "z": 373.1600646972656
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": -0.21642819046974182,
                        "yaw": -0.02243041805922985
                    }
                },
                "velocity": {
                    "x": 5.644589900970459,
                    "y": -0.00763523206114769,
                    "z": -0.020926637575030327
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.489126205444336,
                "transform": {
                    "location": {
                        "x": -197.6300811767578,
                        "y": 4302.1103515625,
                        "z": 373.1658630371094
                    },
                    "rotation": {
                        "roll": 0.005657635163515806,
                        "pitch": -0.3037111759185791,
                        "yaw": -0.043609619140625
                    }
                },
                "velocity": {
                    "x": 5.489082336425781,
                    "y": -0.009009797126054764,
                    "z": -0.02000921219587326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.652449131011963,
                "transform": {
                    "location": {
                        "x": -174.48976135253906,
                        "y": 4321.001953125,
                        "z": 373.1082763671875
                    },
                    "rotation": {
                        "roll": 5.4521482525160536e-05,
                        "pitch": -0.06246890500187874,
                        "yaw": -90.03850555419922
                    }
                },
                "velocity": {
                    "x": -0.003968680277466774,
                    "y": -5.652444362640381,
                    "z": -0.006145744118839502
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.62747859954834,
                "transform": {
                    "location": {
                        "x": -174.52601623535156,
                        "y": 4344.68798828125,
                        "z": 373.1591796875
                    },
                    "rotation": {
                        "roll": -0.0005798327620141208,
                        "pitch": 0.06957913190126419,
                        "yaw": -89.51152801513672
                    }
                },
                "velocity": {
                    "x": 0.052165497094392776,
                    "y": -5.627236366271973,
                    "z": 0.001969203818589449
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.03657054901123,
                "transform": {
                    "location": {
                        "x": -101.05484008789062,
                        "y": 4294.86181640625,
                        "z": 372.8061218261719
                    },
                    "rotation": {
                        "roll": 0.00045250594848766923,
                        "pitch": 0.23117457330226898,
                        "yaw": 179.64749145507812
                    }
                },
                "velocity": {
                    "x": -8.036346435546875,
                    "y": 0.050242409110069275,
                    "z": 0.03287680447101593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385045051574707,
                "transform": {
                    "location": {
                        "x": -98.07249450683594,
                        "y": 4298.2958984375,
                        "z": 372.79229736328125
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": -0.23193271458148956,
                        "yaw": -0.340576171875
                    }
                },
                "velocity": {
                    "x": 13.384696960449219,
                    "y": -0.0806591808795929,
                    "z": -0.0531306155025959
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0924193486571312,
                "transform": {
                    "location": {
                        "x": -214.38531494140625,
                        "y": 4298.8837890625,
                        "z": 373.24853515625
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.21966570615768433,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0003629564307630062,
                    "y": 0.0001678049156907946,
                    "z": 0.09241847693920135
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.50721549987793,
                "transform": {
                    "location": {
                        "x": -212.73374938964844,
                        "y": 4302.1279296875,
                        "z": 373.2174377441406
                    },
                    "rotation": {
                        "roll": -0.005859375465661287,
                        "pitch": -0.331783264875412,
                        "yaw": -0.2003478854894638
                    }
                },
                "velocity": {
                    "x": 4.5069403648376465,
                    "y": 0.017134735360741615,
                    "z": -0.04675593227148056
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005952153587713838,
                "transform": {
                    "location": {
                        "x": -150.93312072753906,
                        "y": 4295.1572265625,
                        "z": 372.99444580078125
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.19388173520565033,
                        "yaw": 179.302734375
                    }
                },
                "velocity": {
                    "x": 2.906810368585866e-05,
                    "y": -6.968128582229838e-05,
                    "z": 0.0005904074059799314
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455938339233398,
                "transform": {
                    "location": {
                        "x": -81.5628890991211,
                        "y": 4301.44873046875,
                        "z": 372.736328125
                    },
                    "rotation": {
                        "roll": -0.0018920894945040345,
                        "pitch": -0.23544344305992126,
                        "yaw": -0.3427734375
                    }
                },
                "velocity": {
                    "x": 13.455583572387695,
                    "y": -0.07965455949306488,
                    "z": -0.05640475079417229
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.159451961517334,
                "transform": {
                    "location": {
                        "x": -128.65147399902344,
                        "y": 4295.0234375,
                        "z": 372.91552734375
                    },
                    "rotation": {
                        "roll": 0.0005056396475993097,
                        "pitch": 0.23854434490203857,
                        "yaw": 179.66397094726562
                    }
                },
                "velocity": {
                    "x": -5.159304141998291,
                    "y": 0.03251960128545761,
                    "z": 0.02159590646624565
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9408495426177979,
        "expert_target_speed": 5.845091581436218,
        "target_point": [
            15.829465996909972,
            -1.8080417114656544
        ],
        "target_point_next": [
            20.08823269353971,
            -2.6937071731233266
        ]
    },
    "510": {
        "acceleration": [
            -0.08966445922851562,
            0.3995990753173828,
            -0.010753460228443146
        ],
        "angular_velocity": [
            -0.028807595372200012,
            -0.4416286051273346,
            -5.778321266174316
        ],
        "forward_vector": [
            -0.9846879839897156,
            -0.17424523830413818,
            0.005315517075359821
        ],
        "right_vector": [
            0.17422759532928467,
            -0.9846987724304199,
            -0.0036205712240189314
        ],
        "location": [
            -146.8426513671875,
            4293.22216796875,
            372.98583984375
        ],
        "rotation": [
            0.2074468433856964,
            0.304558128118515,
            -169.96511840820312
        ],
        "velocity": [
            -5.000853538513184,
            -0.7600738406181335,
            0.019758041948080063
        ],
        "speed": 5.058285120161954,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 74.68492126464844,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -67.26265716552734,
                        "y": 4294.7646484375,
                        "z": 372.6733093261719
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.951863765716553,
                "transform": {
                    "location": {
                        "x": -83.06812286376953,
                        "y": 4294.76123046875,
                        "z": 372.77239990234375
                    },
                    "rotation": {
                        "roll": 0.002162337303161621,
                        "pitch": 0.2256762683391571,
                        "yaw": 179.70542907714844
                    }
                },
                "velocity": {
                    "x": -7.951680660247803,
                    "y": 0.04235478490591049,
                    "z": 0.03348379209637642
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.195535182952881,
                "transform": {
                    "location": {
                        "x": -196.3230438232422,
                        "y": 4298.85888671875,
                        "z": 373.1552734375
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.22299200296401978,
                        "yaw": -0.1124572604894638
                    }
                },
                "velocity": {
                    "x": 5.1954827308654785,
                    "y": -0.013754566200077534,
                    "z": -0.018848951905965805
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.892482280731201,
                "transform": {
                    "location": {
                        "x": -196.39280700683594,
                        "y": 4302.10693359375,
                        "z": 373.1611633300781
                    },
                    "rotation": {
                        "roll": 0.004235207103192806,
                        "pitch": -0.30996763706207275,
                        "yaw": -0.2104797512292862
                    }
                },
                "velocity": {
                    "x": 4.892424583435059,
                    "y": -0.016328124329447746,
                    "z": -0.01728229410946369
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.600372791290283,
                "transform": {
                    "location": {
                        "x": -174.49046325683594,
                        "y": 4319.59326171875,
                        "z": 373.1070251464844
                    },
                    "rotation": {
                        "roll": 4.003066715085879e-05,
                        "pitch": -0.06518049538135529,
                        "yaw": -90.0389404296875
                    }
                },
                "velocity": {
                    "x": -0.003828078042715788,
                    "y": -5.600368499755859,
                    "z": -0.005613698624074459
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.88735818862915,
                "transform": {
                    "location": {
                        "x": -174.51272583007812,
                        "y": 4343.02294921875,
                        "z": 373.1583251953125
                    },
                    "rotation": {
                        "roll": 0.00876224972307682,
                        "pitch": 0.2202530950307846,
                        "yaw": -89.56291961669922
                    }
                },
                "velocity": {
                    "x": 0.03714444860816002,
                    "y": -7.887270450592041,
                    "z": 0.0019777677953243256
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.070420265197754,
                "transform": {
                    "location": {
                        "x": -103.068359375,
                        "y": 4294.87353515625,
                        "z": 372.8142395019531
                    },
                    "rotation": {
                        "roll": -0.0010375973070040345,
                        "pitch": 0.2293918877840042,
                        "yaw": 179.64480590820312
                    }
                },
                "velocity": {
                    "x": -8.070198059082031,
                    "y": 0.050008367747068405,
                    "z": 0.03295358642935753
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385046005249023,
                "transform": {
                    "location": {
                        "x": -94.72679138183594,
                        "y": 4298.2763671875,
                        "z": 372.77874755859375
                    },
                    "rotation": {
                        "roll": 0.001330709783360362,
                        "pitch": -0.23190540075302124,
                        "yaw": -0.3443603217601776
                    }
                },
                "velocity": {
                    "x": 13.3847017288208,
                    "y": -0.08013197779655457,
                    "z": -0.05287313461303711
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.020104581490159035,
                "transform": {
                    "location": {
                        "x": -214.38531494140625,
                        "y": 4298.8837890625,
                        "z": 373.26068115234375
                    },
                    "rotation": {
                        "roll": -0.00027465811581350863,
                        "pitch": -0.21896901726722717,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 6.975933501962572e-05,
                    "y": 8.630816591903567e-05,
                    "z": 0.02010427601635456
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.240993976593018,
                "transform": {
                    "location": {
                        "x": -211.6414794921875,
                        "y": 4302.13134765625,
                        "z": 373.20892333984375
                    },
                    "rotation": {
                        "roll": -0.0031433103140443563,
                        "pitch": -0.24786755442619324,
                        "yaw": 0.05208379030227661
                    }
                },
                "velocity": {
                    "x": 4.240875244140625,
                    "y": 0.022812331095337868,
                    "z": -0.021993746981024742
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011353919981047511,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9944152832031
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.20332789421081543,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.5185586562438402e-05,
                    "y": 8.70132316777017e-06,
                    "z": 0.0011352570727467537
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.456114768981934,
                "transform": {
                    "location": {
                        "x": -78.1996078491211,
                        "y": 4301.42919921875,
                        "z": 372.7224426269531
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.23663188517093658,
                        "yaw": -0.3319396674633026
                    }
                },
                "velocity": {
                    "x": 13.45576286315918,
                    "y": -0.079050213098526,
                    "z": -0.05656231939792633
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.6578474044799805,
                "transform": {
                    "location": {
                        "x": -129.982177734375,
                        "y": 4295.03125,
                        "z": 372.9207458496094
                    },
                    "rotation": {
                        "roll": 0.00047830346738919616,
                        "pitch": 0.2374788373708725,
                        "yaw": 179.65863037109375
                    }
                },
                "velocity": {
                    "x": -5.657693386077881,
                    "y": 0.03586006537079811,
                    "z": 0.021358126774430275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6894572377204895,
        "expert_target_speed": 5.950902805089061,
        "target_point": [
            14.609506080376981,
            -1.4159616392626764
        ],
        "target_point_next": [
            18.88826078052981,
            -2.199387004065181
        ]
    },
    "515": {
        "acceleration": [
            -2.056131362915039,
            0.19801020622253418,
            -0.0017604976892471313
        ],
        "angular_velocity": [
            0.0051153176464140415,
            0.6599192023277283,
            -5.413105487823486
        ],
        "forward_vector": [
            -0.9884068369865417,
            -0.15174876153469086,
            0.004921296611428261
        ],
        "right_vector": [
            0.15173231065273285,
            -0.9884152412414551,
            -0.0035620899870991707
        ],
        "location": [
            -148.10093688964844,
            4293.04052734375,
            372.9905700683594
        ],
        "rotation": [
            0.20409561693668365,
            0.28197067975997925,
            -171.2716064453125
        ],
        "velocity": [
            -5.209043025970459,
            -0.6752520799636841,
            0.019375266507267952
        ],
        "speed": 5.252627401397015,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 73.42494201660156,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.32968139648438,
                        "y": 4302.19873046875,
                        "z": 373.47222900390625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -69.26625061035156,
                        "y": 4294.7763671875,
                        "z": 372.6815490722656
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.082756042480469,
                "transform": {
                    "location": {
                        "x": -85.07585906982422,
                        "y": 4294.77197265625,
                        "z": 372.7804260253906
                    },
                    "rotation": {
                        "roll": 0.0003277256910223514,
                        "pitch": 0.24458906054496765,
                        "yaw": 179.7135009765625
                    }
                },
                "velocity": {
                    "x": -8.082575798034668,
                    "y": 0.042133066803216934,
                    "z": 0.033755719661712646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.430820941925049,
                "transform": {
                    "location": {
                        "x": -194.9972686767578,
                        "y": 4298.85546875,
                        "z": 373.1502990722656
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.20006988942623138,
                        "yaw": -0.1630248874425888
                    }
                },
                "velocity": {
                    "x": 5.4307661056518555,
                    "y": -0.01663901098072529,
                    "z": -0.017808256670832634
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.334750652313232,
                "transform": {
                    "location": {
                        "x": -195.08648681640625,
                        "y": 4302.103515625,
                        "z": 373.156982421875
                    },
                    "rotation": {
                        "roll": 0.0004067544941790402,
                        "pitch": -0.18554890155792236,
                        "yaw": -0.036224365234375
                    }
                },
                "velocity": {
                    "x": 5.334687232971191,
                    "y": -0.01820353977382183,
                    "z": -0.018630685284733772
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.269384384155273,
                "transform": {
                    "location": {
                        "x": -174.49203491210938,
                        "y": 4318.2353515625,
                        "z": 373.1057434082031
                    },
                    "rotation": {
                        "roll": -0.00045775974285788834,
                        "pitch": -0.07342453300952911,
                        "yaw": -90.0447998046875
                    }
                },
                "velocity": {
                    "x": -0.004160056822001934,
                    "y": -5.269379138946533,
                    "z": -0.0060240840539336205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.299561500549316,
                "transform": {
                    "location": {
                        "x": -174.50250244140625,
                        "y": 4340.955078125,
                        "z": 373.1596374511719
                    },
                    "rotation": {
                        "roll": 0.004920605104416609,
                        "pitch": 0.10006909817457199,
                        "yaw": -89.7307357788086
                    }
                },
                "velocity": {
                    "x": 0.032265640795230865,
                    "y": -8.29949951171875,
                    "z": 0.001329832011833787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035683631896973,
                "transform": {
                    "location": {
                        "x": -105.08187103271484,
                        "y": 4294.884765625,
                        "z": 372.8222961425781
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.22941237688064575,
                        "yaw": 179.64492797851562
                    }
                },
                "velocity": {
                    "x": -8.03546142578125,
                    "y": 0.04982932284474373,
                    "z": 0.033016450703144073
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385096549987793,
                "transform": {
                    "location": {
                        "x": -91.38108825683594,
                        "y": 4298.2568359375,
                        "z": 372.76513671875
                    },
                    "rotation": {
                        "roll": 0.00043730487232096493,
                        "pitch": -0.23333290219306946,
                        "yaw": -0.33697509765625
                    }
                },
                "velocity": {
                    "x": 13.384754180908203,
                    "y": -0.07935064285993576,
                    "z": -0.053426966071128845
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5923143625259399,
                "transform": {
                    "location": {
                        "x": -214.3583526611328,
                        "y": 4298.8837890625,
                        "z": 373.2623596191406
                    },
                    "rotation": {
                        "roll": -0.00347900390625,
                        "pitch": -0.17600031197071075,
                        "yaw": -0.3228759765625
                    }
                },
                "velocity": {
                    "x": 0.59227055311203,
                    "y": 0.007189339958131313,
                    "z": 0.00040760994306765497
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.190710067749023,
                "transform": {
                    "location": {
                        "x": -210.56015014648438,
                        "y": 4302.13623046875,
                        "z": 373.20404052734375
                    },
                    "rotation": {
                        "roll": -0.004974364303052425,
                        "pitch": -0.23586690425872803,
                        "yaw": 0.1904791295528412
                    }
                },
                "velocity": {
                    "x": 4.190612316131592,
                    "y": 0.023347072303295135,
                    "z": -0.016599148511886597
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010710707865655422,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.9550174329197034e-05,
                    "y": 3.262434256612323e-05,
                    "z": 0.0010703953448683023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -74.75202941894531,
                        "y": 4301.3271484375,
                        "z": 372.7049560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.393937587738037,
                "transform": {
                    "location": {
                        "x": -131.49717712402344,
                        "y": 4295.041015625,
                        "z": 372.9265441894531
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": 0.2405455857515335,
                        "yaw": 179.62901306152344
                    }
                },
                "velocity": {
                    "x": -6.393753528594971,
                    "y": 0.04125535860657692,
                    "z": 0.025509165599942207
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6278435587882996,
        "expert_target_speed": 6.095979919148819,
        "target_point": [
            13.366715455879412,
            -1.071082917170187
        ],
        "target_point_next": [
            17.662220234388375,
            -1.7567474007935666
        ]
    },
    "520": {
        "acceleration": [
            0.44684410095214844,
            0.5225062370300293,
            0.0042022764682769775
        ],
        "angular_velocity": [
            0.0013666864251717925,
            -0.26891985535621643,
            -5.5577826499938965
        ],
        "forward_vector": [
            -0.9917438626289368,
            -0.1281859427690506,
            0.0035453957971185446
        ],
        "right_vector": [
            0.12817390263080597,
            -0.9917457699775696,
            -0.0034378066193312407
        ],
        "location": [
            -149.37147521972656,
            4292.88525390625,
            372.9955139160156
        ],
        "rotation": [
            0.19697342813014984,
            0.2031366378068924,
            -172.6351776123047
        ],
        "velocity": [
            -5.008552551269531,
            -0.5367529392242432,
            0.017624329775571823
        ],
        "speed": 5.037231618319173,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 72.15328979492188,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -224.1875762939453,
                        "y": 4302.19189453125,
                        "z": 373.2821044921875
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -71.28132629394531,
                        "y": 4294.7880859375,
                        "z": 372.6897888183594
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007935523986816,
                "transform": {
                    "location": {
                        "x": -87.08851623535156,
                        "y": 4294.783203125,
                        "z": 372.7887268066406
                    },
                    "rotation": {
                        "roll": 0.0013845680514350533,
                        "pitch": 0.23275917768478394,
                        "yaw": 179.67176818847656
                    }
                },
                "velocity": {
                    "x": -8.007737159729004,
                    "y": 0.04558354616165161,
                    "z": 0.03315814957022667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.089163780212402,
                "transform": {
                    "location": {
                        "x": -193.6730499267578,
                        "y": 4298.8515625,
                        "z": 373.1458435058594
                    },
                    "rotation": {
                        "roll": 0.0003737088991329074,
                        "pitch": -0.21032200753688812,
                        "yaw": -0.195068359375
                    }
                },
                "velocity": {
                    "x": 5.089078426361084,
                    "y": -0.023897957056760788,
                    "z": -0.017299365252256393
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.034079551696777,
                "transform": {
                    "location": {
                        "x": -193.79312133789062,
                        "y": 4302.1005859375,
                        "z": 373.15228271484375
                    },
                    "rotation": {
                        "roll": -0.0035400388296693563,
                        "pitch": -0.22958312928676605,
                        "yaw": 0.2691613733768463
                    }
                },
                "velocity": {
                    "x": 5.034038543701172,
                    "y": -0.01008254662156105,
                    "z": -0.017640704289078712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.185652256011963,
                "transform": {
                    "location": {
                        "x": -174.49398803710938,
                        "y": 4316.9326171875,
                        "z": 373.10443115234375
                    },
                    "rotation": {
                        "roll": 0.00023627866175957024,
                        "pitch": -0.06936739385128021,
                        "yaw": -90.04491424560547
                    }
                },
                "velocity": {
                    "x": -0.004037330858409405,
                    "y": -5.185647487640381,
                    "z": -0.005513668060302734
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.79052209854126,
                "transform": {
                    "location": {
                        "x": -174.4942169189453,
                        "y": 4338.955078125,
                        "z": 373.1607971191406
                    },
                    "rotation": {
                        "roll": 0.0012886153999716043,
                        "pitch": -0.018707886338233948,
                        "yaw": -89.7822494506836
                    }
                },
                "velocity": {
                    "x": 0.029664963483810425,
                    "y": -7.790465354919434,
                    "z": 0.0020454120822250843
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07068920135498,
                "transform": {
                    "location": {
                        "x": -107.09507751464844,
                        "y": 4294.89697265625,
                        "z": 372.83038330078125
                    },
                    "rotation": {
                        "roll": -0.0005187985952943563,
                        "pitch": 0.22964461147785187,
                        "yaw": 179.64480590820312
                    }
                },
                "velocity": {
                    "x": -8.070466995239258,
                    "y": 0.05003076419234276,
                    "z": 0.0328543446958065
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385126113891602,
                "transform": {
                    "location": {
                        "x": -88.03538513183594,
                        "y": 4298.2373046875,
                        "z": 372.75152587890625
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.2352931797504425,
                        "yaw": -0.3394775092601776
                    }
                },
                "velocity": {
                    "x": 13.384782791137695,
                    "y": -0.07908161729574203,
                    "z": -0.05410347878932953
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.732244849205017,
                "transform": {
                    "location": {
                        "x": -214.0449981689453,
                        "y": 4298.88671875,
                        "z": 373.26092529296875
                    },
                    "rotation": {
                        "roll": -0.006439208984375,
                        "pitch": -0.11026656627655029,
                        "yaw": -0.1789245307445526
                    }
                },
                "velocity": {
                    "x": 1.732085108757019,
                    "y": 0.022669464349746704,
                    "z": -0.006293134763836861
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.062007904052734,
                "transform": {
                    "location": {
                        "x": -209.54562377929688,
                        "y": 4302.142578125,
                        "z": 373.1999816894531
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": -0.2245219647884369,
                        "yaw": 0.1393381655216217
                    }
                },
                "velocity": {
                    "x": 4.061907768249512,
                    "y": 0.023466646671295166,
                    "z": -0.016158809885382652
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011856816709041595,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.0924562957370654e-05,
                    "y": 2.791952510960982e-06,
                    "z": 0.0011856281198561192
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -71.2801513671875,
                        "y": 4301.29052734375,
                        "z": 372.6900634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.521505832672119,
                "transform": {
                    "location": {
                        "x": -133.2570343017578,
                        "y": 4295.05224609375,
                        "z": 372.9333190917969
                    },
                    "rotation": {
                        "roll": -0.00015258791972883046,
                        "pitch": 0.24679520726203918,
                        "yaw": 179.6291046142578
                    }
                },
                "velocity": {
                    "x": -7.5212931632995605,
                    "y": 0.04853174090385437,
                    "z": 0.029051197692751884
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5474579334259033,
        "expert_target_speed": 5.868544985756092,
        "target_point": [
            12.108458034272704,
            -0.7438226849641018
        ],
        "target_point_next": [
            16.419062954744877,
            -1.3270741795159293
        ]
    },
    "525": {
        "acceleration": [
            -0.3846168518066406,
            0.40401220321655273,
            0.00856112688779831
        ],
        "angular_velocity": [
            -0.03900078311562538,
            0.13465359807014465,
            -4.77169132232666
        ],
        "forward_vector": [
            -0.9943699836730957,
            -0.10590656846761703,
            0.003482930827885866
        ],
        "right_vector": [
            0.10589496046304703,
            -0.9943716526031494,
            -0.0033636223524808884
        ],
        "location": [
            -150.6211700439453,
            4292.76123046875,
            373.0000305175781
        ],
        "rotation": [
            0.19272290170192719,
            0.19955763220787048,
            -173.92056274414062
        ],
        "velocity": [
            -5.026636123657227,
            -0.4253416061401367,
            0.01818072237074375
        ],
        "speed": 5.0445997067725425,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 70.90291595458984,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.3542938232422,
                        "y": 4302.18701171875,
                        "z": 373.27752685546875
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -73.28108978271484,
                        "y": 4294.80029296875,
                        "z": 372.697998046875
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017512321472168,
                "transform": {
                    "location": {
                        "x": -89.08843231201172,
                        "y": 4294.794921875,
                        "z": 372.7969055175781
                    },
                    "rotation": {
                        "roll": 3.0427770980168134e-05,
                        "pitch": 0.23570981621742249,
                        "yaw": 179.6932373046875
                    }
                },
                "velocity": {
                    "x": -8.01732063293457,
                    "y": 0.04463256150484085,
                    "z": 0.032990939915180206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8481937646865845,
                "transform": {
                    "location": {
                        "x": -192.710693359375,
                        "y": 4298.84716796875,
                        "z": 373.14288330078125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.2905562222003937,
                        "yaw": -0.2464599460363388
                    }
                },
                "velocity": {
                    "x": 1.8481608629226685,
                    "y": -0.008837917819619179,
                    "z": -0.006599531043320894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.9105634689331055,
                "transform": {
                    "location": {
                        "x": -192.53421020507812,
                        "y": 4302.09814453125,
                        "z": 373.1477966308594
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.2242146134376526,
                        "yaw": 0.048482585698366165
                    }
                },
                "velocity": {
                    "x": 4.910495758056641,
                    "y": -0.011843939311802387,
                    "z": -0.022855358198285103
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.962167739868164,
                "transform": {
                    "location": {
                        "x": -174.49594116210938,
                        "y": 4315.66259765625,
                        "z": 373.1029968261719
                    },
                    "rotation": {
                        "roll": -6.103485793573782e-05,
                        "pitch": -0.07397777587175369,
                        "yaw": -90.04718017578125
                    }
                },
                "velocity": {
                    "x": -0.004103322979062796,
                    "y": -4.962162017822266,
                    "z": -0.006366681773215532
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.101776123046875,
                "transform": {
                    "location": {
                        "x": -174.4899139404297,
                        "y": 4336.97509765625,
                        "z": 373.1604919433594
                    },
                    "rotation": {
                        "roll": 0.004384038504213095,
                        "pitch": 0.016986679285764694,
                        "yaw": -89.88158416748047
                    }
                },
                "velocity": {
                    "x": 0.00991315208375454,
                    "y": -8.10176944732666,
                    "z": -0.0001669502235017717
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035680770874023,
                "transform": {
                    "location": {
                        "x": -109.10851287841797,
                        "y": 4294.90869140625,
                        "z": 372.83843994140625
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 0.22930993139743805,
                        "yaw": 179.64492797851562
                    }
                },
                "velocity": {
                    "x": -8.035460472106934,
                    "y": 0.04981640726327896,
                    "z": 0.03261728212237358
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385139465332031,
                "transform": {
                    "location": {
                        "x": -84.68968200683594,
                        "y": 4298.2177734375,
                        "z": 372.73785400390625
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.3337402045726776
                    }
                },
                "velocity": {
                    "x": 13.384794235229492,
                    "y": -0.07880924642086029,
                    "z": -0.055133454501628876
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.777719736099243,
                "transform": {
                    "location": {
                        "x": -213.4871826171875,
                        "y": 4298.8876953125,
                        "z": 373.25885009765625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": -0.10680366307497025,
                        "yaw": -0.0767211839556694
                    }
                },
                "velocity": {
                    "x": 2.777683734893799,
                    "y": 0.009996890090405941,
                    "z": -0.009953794069588184
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.343227386474609,
                "transform": {
                    "location": {
                        "x": -208.35867309570312,
                        "y": 4302.1474609375,
                        "z": 373.1950378417969
                    },
                    "rotation": {
                        "roll": 0.002470401581376791,
                        "pitch": -0.16037283837795258,
                        "yaw": 0.14531077444553375
                    }
                },
                "velocity": {
                    "x": 5.3431925773620605,
                    "y": 0.0013287862529978156,
                    "z": -0.019300388172268867
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009459260618314147,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 2.047147609118838e-05,
                    "y": -7.192802058852976e-06,
                    "z": 0.0009456771658733487
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.000697135925293,
                "transform": {
                    "location": {
                        "x": -135.22561645507812,
                        "y": 4295.0654296875,
                        "z": 372.9410705566406
                    },
                    "rotation": {
                        "roll": -0.0012207027757540345,
                        "pitch": 0.23693925142288208,
                        "yaw": 179.6320037841797
                    }
                },
                "velocity": {
                    "x": -8.000478744506836,
                    "y": 0.05114360526204109,
                    "z": 0.02967016212642193
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.47036412358283997,
        "expert_target_speed": 0,
        "target_point": [
            10.86629503046451,
            -0.4629942090125805
        ],
        "target_point_next": [
            15.188898715107397,
            -0.9494039866770461
        ]
    },
    "530": {
        "acceleration": [
            0.044097900390625,
            0.38429081439971924,
            -0.01012708991765976
        ],
        "angular_velocity": [
            -0.03738734498620033,
            -0.049874842166900635,
            -4.914175510406494
        ],
        "forward_vector": [
            -0.9963877201080322,
            -0.08482520282268524,
            0.004016865510493517
        ],
        "right_vector": [
            0.08481328934431076,
            -0.9963921308517456,
            -0.003048849059268832
        ],
        "location": [
            -151.8933563232422,
            4292.66162109375,
            373.0044860839844
        ],
        "rotation": [
            0.17468784749507904,
            0.230150043964386,
            -175.1339874267578
        ],
        "velocity": [
            -5.115668296813965,
            -0.3361901640892029,
            0.017205284908413887
        ],
        "speed": 5.126703224242439,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 69.63032531738281,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2593994140625
            ],
            "velocity": [
                -9.866162872640416e-05,
                0.00012672561570070684,
                -0.02777569741010666
            ],
            "speed_kmh": 0.09999418220631322,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.75428771972656,
                        "y": 4302.17724609375,
                        "z": 373.2662658691406
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -75.29007720947266,
                        "y": 4294.81201171875,
                        "z": 372.70635986328125
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043778419494629,
                "transform": {
                    "location": {
                        "x": -91.09828186035156,
                        "y": 4294.80615234375,
                        "z": 372.80511474609375
                    },
                    "rotation": {
                        "roll": 0.0011390469735488296,
                        "pitch": 0.23818917572498322,
                        "yaw": 179.66761779785156
                    }
                },
                "velocity": {
                    "x": -8.043585777282715,
                    "y": 0.04499485716223717,
                    "z": 0.03290722891688347
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016374277183786035,
                "transform": {
                    "location": {
                        "x": -192.6453094482422,
                        "y": 4298.84716796875,
                        "z": 373.142578125
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": -0.2793342173099518,
                        "yaw": -0.2811889350414276
                    }
                },
                "velocity": {
                    "x": -0.0001667656033532694,
                    "y": -4.153840563958511e-05,
                    "z": 0.0016283836448565125
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3237297534942627,
                "transform": {
                    "location": {
                        "x": -191.634765625,
                        "y": 4302.09716796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.0025504117365926504,
                        "pitch": -0.49706700444221497,
                        "yaw": -1.3528746366500854
                    }
                },
                "velocity": {
                    "x": 2.3237156867980957,
                    "y": 0.002900522667914629,
                    "z": -0.007564391940832138
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4918482303619385,
                "transform": {
                    "location": {
                        "x": -174.4972686767578,
                        "y": 4314.671875,
                        "z": 373.1031494140625
                    },
                    "rotation": {
                        "roll": 0.0010834895074367523,
                        "pitch": -0.2567126452922821,
                        "yaw": -89.97066497802734
                    }
                },
                "velocity": {
                    "x": -0.006121386773884296,
                    "y": -1.4918345212936401,
                    "z": -0.0018558406736701727
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.027776161208748817,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.22135275602340698,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -9.866162872640416e-05,
                    "y": 0.00012672561570070684,
                    "z": -0.02777569741010666
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.10048393160104752,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.26678466796875
                    },
                    "rotation": {
                        "roll": 0.00040196700138039887,
                        "pitch": 0.22148935496807098,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0004035569727420807,
                    "y": -7.99998379079625e-05,
                    "z": 0.10048308968544006
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.693174362182617,
                "transform": {
                    "location": {
                        "x": -174.48757934570312,
                        "y": 4334.98388671875,
                        "z": 373.16064453125
                    },
                    "rotation": {
                        "roll": 0.0015939605655148625,
                        "pitch": -0.035120829939842224,
                        "yaw": -89.92894744873047
                    }
                },
                "velocity": {
                    "x": 0.009477908723056316,
                    "y": -7.6931681632995605,
                    "z": -0.0017662524478510022
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.070417404174805,
                "transform": {
                    "location": {
                        "x": -111.12226104736328,
                        "y": 4294.92138671875,
                        "z": 372.846435546875
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": 0.22838102281093597,
                        "yaw": 179.6394500732422
                    }
                },
                "velocity": {
                    "x": -8.070186614990234,
                    "y": 0.05091474950313568,
                    "z": 0.03354446217417717
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385170936584473,
                "transform": {
                    "location": {
                        "x": -81.34397888183594,
                        "y": 4298.1982421875,
                        "z": 372.7240905761719
                    },
                    "rotation": {
                        "roll": 0.0006743581034243107,
                        "pitch": -0.23553906381130219,
                        "yaw": -0.33843994140625
                    }
                },
                "velocity": {
                    "x": 13.384822845458984,
                    "y": -0.07857318222522736,
                    "z": -0.05589751899242401
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.1632561683654785,
                "transform": {
                    "location": {
                        "x": -212.61077880859375,
                        "y": 4298.89013671875,
                        "z": 373.2552185058594
                    },
                    "rotation": {
                        "roll": -0.0028076167218387127,
                        "pitch": -0.07711966335773468,
                        "yaw": 0.03134842589497566
                    }
                },
                "velocity": {
                    "x": 4.1631975173950195,
                    "y": 0.01531228981912136,
                    "z": -0.015838680788874626
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.708034515380859,
                "transform": {
                    "location": {
                        "x": -206.93264770507812,
                        "y": 4302.14794921875,
                        "z": 373.1894836425781
                    },
                    "rotation": {
                        "roll": 0.00106219039298594,
                        "pitch": -0.12826411426067352,
                        "yaw": 0.10411756485700607
                    }
                },
                "velocity": {
                    "x": 6.707984924316406,
                    "y": -0.0032079555094242096,
                    "z": -0.025586141273379326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009146868251264095,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.2382380191411357e-05,
                    "y": 8.128101399051957e-06,
                    "z": 0.0009145668591372669
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.92946195602417,
                "transform": {
                    "location": {
                        "x": -137.10398864746094,
                        "y": 4295.0771484375,
                        "z": 372.94854736328125
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": 0.20227603614330292,
                        "yaw": 179.63853454589844
                    }
                },
                "velocity": {
                    "x": -6.929268836975098,
                    "y": 0.043508369475603104,
                    "z": 0.027975844219326973
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4434603750705719,
        "expert_target_speed": 5.850478032344083,
        "target_point": [
            9.597612531007973,
            -0.22410984422352276
        ],
        "target_point_next": [
            13.929547592827557,
            -0.6188701594453162
        ]
    },
    "535": {
        "acceleration": [
            -2.0171070098876953,
            0.418819785118103,
            -0.003542490303516388
        ],
        "angular_velocity": [
            -0.0010415237629786134,
            -0.048221465200185776,
            -2.162853240966797
        ],
        "forward_vector": [
            -0.9979570508003235,
            -0.06320793181657791,
            0.009298666380345821
        ],
        "right_vector": [
            0.06317858397960663,
            -0.9979963898658752,
            -0.0034171552397310734
        ],
        "location": [
            -153.36843872070312,
            4292.57568359375,
            373.0086975097656
        ],
        "rotation": [
            0.1957974135875702,
            0.5327820181846619,
            -176.37588500976562
        ],
        "velocity": [
            -6.327237606048584,
            -0.2930365204811096,
            0.02189389243721962
        ],
        "speed": 6.334019744659081,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 68.15497589111328,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2525329589844
            ],
            "velocity": [
                -5.259688987280242e-05,
                -3.480880332062952e-05,
                -0.01568923331797123
            ],
            "speed_kmh": 0.056481696342088696,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.40625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.517809867858887,
                "transform": {
                    "location": {
                        "x": -219.91233825683594,
                        "y": 4302.177734375,
                        "z": 373.273193359375
                    },
                    "rotation": {
                        "roll": -0.02313232421875,
                        "pitch": -0.23803891241550446,
                        "yaw": 0.06633071601390839
                    }
                },
                "velocity": {
                    "x": 7.517477989196777,
                    "y": 0.05515371263027191,
                    "z": 0.044168099761009216
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -77.29757690429688,
                        "y": 4294.82421875,
                        "z": 372.7145690917969
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01423168182373,
                "transform": {
                    "location": {
                        "x": -93.10476684570312,
                        "y": 4294.81787109375,
                        "z": 372.8133239746094
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.23209664225578308,
                        "yaw": 179.68846130371094
                    }
                },
                "velocity": {
                    "x": -8.01403522491455,
                    "y": 0.04535074904561043,
                    "z": 0.03301742300391197
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019394277478568256,
                "transform": {
                    "location": {
                        "x": -192.64483642578125,
                        "y": 4298.84716796875,
                        "z": 373.14202880859375
                    },
                    "rotation": {
                        "roll": -0.0015869138296693563,
                        "pitch": -0.2093794345855713,
                        "yaw": -0.2812194228172302
                    }
                },
                "velocity": {
                    "x": -3.112517333647702e-06,
                    "y": 3.473399488029827e-07,
                    "z": -0.00019391748355701566
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0036837200168520212,
                "transform": {
                    "location": {
                        "x": -191.50070190429688,
                        "y": 4302.0966796875,
                        "z": 373.14361572265625
                    },
                    "rotation": {
                        "roll": 0.021844012662768364,
                        "pitch": -0.5396122336387634,
                        "yaw": -1.863128662109375
                    }
                },
                "velocity": {
                    "x": -0.003653212683275342,
                    "y": -0.0004152255423832685,
                    "z": -0.00022675670334137976
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005003272672183812,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.6376953125,
                        "z": 373.1024475097656
                    },
                    "rotation": {
                        "roll": 0.0004162305558566004,
                        "pitch": -0.20172280073165894,
                        "yaw": -89.94113159179688
                    }
                },
                "velocity": {
                    "x": 0.00016864630742929876,
                    "y": 0.00045596412383019924,
                    "z": -0.00011824761895695701
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.015689359977841377,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2525329589844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.22203578054904938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -5.259688987280242e-05,
                    "y": -3.480880332062952e-05,
                    "z": -0.01568923331797123
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.03463280200958252,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.28424072265625
                    },
                    "rotation": {
                        "roll": 0.00081893295282498,
                        "pitch": 0.2215508371591568,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00014436975470744073,
                    "y": 3.222054510843009e-05,
                    "z": 0.03463248535990715
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.273141384124756,
                "transform": {
                    "location": {
                        "x": -174.48585510253906,
                        "y": 4333.126953125,
                        "z": 373.1603698730469
                    },
                    "rotation": {
                        "roll": 0.0013305034954100847,
                        "pitch": -0.05919724702835083,
                        "yaw": -89.95025634765625
                    }
                },
                "velocity": {
                    "x": 0.0012742312392219901,
                    "y": -7.273141384124756,
                    "z": -0.0012141227489337325
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035778045654297,
                "transform": {
                    "location": {
                        "x": -113.13539123535156,
                        "y": 4294.93310546875,
                        "z": 372.8544006347656
                    },
                    "rotation": {
                        "roll": 0.0009840978309512138,
                        "pitch": 0.22696034610271454,
                        "yaw": 179.6437530517578
                    }
                },
                "velocity": {
                    "x": -8.035557746887207,
                    "y": 0.04952172189950943,
                    "z": 0.03301289305090904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -77.8726577758789,
                        "y": 4298.1201171875,
                        "z": 372.71392822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.3808979988098145,
                "transform": {
                    "location": {
                        "x": -211.40187072753906,
                        "y": 4298.8935546875,
                        "z": 373.25091552734375
                    },
                    "rotation": {
                        "roll": -0.0015563962515443563,
                        "pitch": -0.07983807474374771,
                        "yaw": 0.1282656490802765
                    }
                },
                "velocity": {
                    "x": 5.380825519561768,
                    "y": 0.021177738904953003,
                    "z": -0.018152866512537003
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.220789909362793,
                "transform": {
                    "location": {
                        "x": -205.10179138183594,
                        "y": 4302.1484375,
                        "z": 373.1828918457031
                    },
                    "rotation": {
                        "roll": 0.001145251328125596,
                        "pitch": -0.1572582721710205,
                        "yaw": 0.004783140495419502
                    }
                },
                "velocity": {
                    "x": 7.220742702484131,
                    "y": -0.0039044725708663464,
                    "z": -0.025860518217086792
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010655459482222795,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 5.238130597717827e-06,
                    "y": -9.235117431671824e-06,
                    "z": 0.0010654930956661701
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.8829612731933594,
                "transform": {
                    "location": {
                        "x": -138.433349609375,
                        "y": 4295.08740234375,
                        "z": 372.9540100097656
                    },
                    "rotation": {
                        "roll": 5.1120136049576104e-05,
                        "pitch": 0.140244260430336,
                        "yaw": 179.97714233398438
                    }
                },
                "velocity": {
                    "x": -2.8829445838928223,
                    "y": -0.0026281471364200115,
                    "z": 0.009448670782148838
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3850434422492981,
        "expert_target_speed": 6.682140780517609,
        "target_point": [
            8.122650604965074,
            -0.008573313411931571
        ],
        "target_point_next": [
            12.462123772386231,
            -0.3093551538339139
        ]
    },
    "540": {
        "acceleration": [
            -1.3192272186279297,
            0.5623701214790344,
            0.015536695718765259
        ],
        "angular_velocity": [
            0.15306808054447174,
            -0.3545437455177307,
            -8.386245727539062
        ],
        "forward_vector": [
            -0.9991880059242249,
            -0.03952106460928917,
            0.007832207717001438
        ],
        "right_vector": [
            0.03949242830276489,
            -0.9992127418518066,
            -0.0037779933772981167
        ],
        "location": [
            -155.00241088867188,
            4292.51416015625,
            373.01483154296875
        ],
        "rotation": [
            0.21647024154663086,
            0.4487570524215698,
            -177.73495483398438
        ],
        "velocity": [
            -6.71155309677124,
            -0.16342756152153015,
            0.022826794534921646
        ],
        "speed": 6.713542547615566,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 66.52088165283203,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.25115966796875
            ],
            "velocity": [
                3.457143748164526e-06,
                1.5540776075795293e-05,
                -0.0014298000605776906
            ],
            "speed_kmh": 0.005147599302885088,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.28578186035156,
                        "y": 4298.9482421875,
                        "z": 373.4617004394531
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.03892652317881584,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.07672119140625
                    },
                    "rotation": {
                        "roll": -0.00018310445011593401,
                        "pitch": 0.03056509420275688,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 2.7926493203267455e-05,
                    "y": -1.391364185110433e-05,
                    "z": -0.038926512002944946
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.712294101715088,
                "transform": {
                    "location": {
                        "x": -218.1132049560547,
                        "y": 4302.1875,
                        "z": 373.2760925292969
                    },
                    "rotation": {
                        "roll": 0.0009307840373367071,
                        "pitch": -0.27487412095069885,
                        "yaw": 0.324138343334198
                    }
                },
                "velocity": {
                    "x": 6.712249755859375,
                    "y": 0.022455941885709763,
                    "z": -0.009540090337395668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -79.30210876464844,
                        "y": 4294.8359375,
                        "z": 372.72283935546875
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030044555664062,
                "transform": {
                    "location": {
                        "x": -95.10991668701172,
                        "y": 4294.82958984375,
                        "z": 372.8214111328125
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": 0.23405008018016815,
                        "yaw": 179.65126037597656
                    }
                },
                "velocity": {
                    "x": -8.029829978942871,
                    "y": 0.048579201102256775,
                    "z": 0.03308149427175522
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006523324991576374,
                "transform": {
                    "location": {
                        "x": -192.64483642578125,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": -0.2045641541481018,
                        "yaw": -0.2812194228172302
                    }
                },
                "velocity": {
                    "x": 5.666166558171426e-08,
                    "y": 4.9426264013163745e-05,
                    "z": 0.00065045733936131
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017403223318979144,
                "transform": {
                    "location": {
                        "x": -191.49859619140625,
                        "y": 4302.0966796875,
                        "z": 373.14398193359375
                    },
                    "rotation": {
                        "roll": 0.008956672623753548,
                        "pitch": -0.2801811695098877,
                        "yaw": -1.863006830215454
                    }
                },
                "velocity": {
                    "x": -0.0010047724936157465,
                    "y": -9.397989197168499e-05,
                    "z": 0.0014178581768646836
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00050073437159881,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.63720703125,
                        "z": 373.1017150878906
                    },
                    "rotation": {
                        "roll": 4.892531069344841e-05,
                        "pitch": -0.10403060913085938,
                        "yaw": -89.94113159179688
                    }
                },
                "velocity": {
                    "x": -2.234777457488235e-05,
                    "y": 5.917176531511359e-05,
                    "z": 0.0004967234563082457
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014298887690529227,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.25115966796875
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.22213822603225708,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 3.457143748164526e-06,
                    "y": 1.5540776075795293e-05,
                    "z": -0.0014298000605776906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.006109755486249924,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.28826904296875
                    },
                    "rotation": {
                        "roll": 0.0004486519319470972,
                        "pitch": 0.22220653295516968,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 2.714052789087873e-05,
                    "y": -6.227006815606728e-05,
                    "z": 0.006109377834945917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.200266361236572,
                "transform": {
                    "location": {
                        "x": -174.4855499267578,
                        "y": 4331.318359375,
                        "z": 373.1595153808594
                    },
                    "rotation": {
                        "roll": 0.0005582946469075978,
                        "pitch": -0.03167841583490372,
                        "yaw": -89.98693084716797
                    }
                },
                "velocity": {
                    "x": -0.0005716092418879271,
                    "y": -7.200266361236572,
                    "z": -0.0020873642060905695
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.070757865905762,
                "transform": {
                    "location": {
                        "x": -115.14921569824219,
                        "y": 4294.94482421875,
                        "z": 372.86236572265625
                    },
                    "rotation": {
                        "roll": 0.00022185049601830542,
                        "pitch": 0.2265983372926712,
                        "yaw": 179.64610290527344
                    }
                },
                "velocity": {
                    "x": -8.070536613464355,
                    "y": 0.049853891134262085,
                    "z": 0.03305885195732117
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -74.40109252929688,
                        "y": 4298.056640625,
                        "z": 372.7027587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.582043170928955,
                "transform": {
                    "location": {
                        "x": -210.04812622070312,
                        "y": 4298.89990234375,
                        "z": 373.2463684082031
                    },
                    "rotation": {
                        "roll": -0.0022277829702943563,
                        "pitch": -0.1554550975561142,
                        "yaw": 0.09301293641328812
                    }
                },
                "velocity": {
                    "x": 5.581968307495117,
                    "y": 0.020489508286118507,
                    "z": -0.02045920304954052
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.308036804199219,
                "transform": {
                    "location": {
                        "x": -203.41468811035156,
                        "y": 4302.146484375,
                        "z": 373.1774597167969
                    },
                    "rotation": {
                        "roll": 0.0021120538003742695,
                        "pitch": -0.24936336278915405,
                        "yaw": -0.0595397911965847
                    }
                },
                "velocity": {
                    "x": 6.307964324951172,
                    "y": -0.017359863966703415,
                    "z": -0.024816427379846573
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012017011176794767,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.2828856597479898e-05,
                    "y": 5.370775397750549e-07,
                    "z": 0.0012016325490549207
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.32054999470710754,
                "transform": {
                    "location": {
                        "x": -138.61155700683594,
                        "y": 4295.09033203125,
                        "z": 372.9546813964844
                    },
                    "rotation": {
                        "roll": 0.0037965497467666864,
                        "pitch": 0.15026415884494781,
                        "yaw": -179.47763061523438
                    }
                },
                "velocity": {
                    "x": -0.3205409049987793,
                    "y": 0.0009152370621450245,
                    "z": 0.0022356128320097923
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.688350260257721,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36360326409339905,
        "expert_target_speed": 6.785792544075769,
        "target_point": [
            10.830828247332672,
            -0.010587881048718384
        ],
        "target_point_next": [
            31.309903415002452,
            -0.9417909229835335
        ]
    },
    "545": {
        "acceleration": [
            -0.18959999084472656,
            0.46926820278167725,
            0.0015176832675933838
        ],
        "angular_velocity": [
            -0.1113780215382576,
            -0.4703364074230194,
            -1.2390965223312378
        ],
        "forward_vector": [
            -0.99979567527771,
            -0.019220374524593353,
            0.006264764349907637
        ],
        "right_vector": [
            0.01919938437640667,
            -0.9998099207878113,
            -0.003393185092136264
        ],
        "location": [
            -156.71202087402344,
            4292.4833984375,
            373.0211486816406
        ],
        "rotation": [
            0.19441936910152435,
            0.35894691944122314,
            -178.89866638183594
        ],
        "velocity": [
            -6.911048412322998,
            -0.052913930267095566,
            0.02570931427180767
        ],
        "speed": 6.911250975148316,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 64.81122589111328,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.25115966796875
            ],
            "velocity": [
                1.4170594113238622e-05,
                -5.02073708048556e-05,
                0.0009174931328743696
            ],
            "speed_kmh": 0.0033083103605333042,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.189197540283203,
                "transform": {
                    "location": {
                        "x": -223.82460021972656,
                        "y": 4298.94384765625,
                        "z": 373.2474060058594
                    },
                    "rotation": {
                        "roll": -0.013702391646802425,
                        "pitch": -1.2113066911697388,
                        "yaw": -0.15869140625
                    }
                },
                "velocity": {
                    "x": 2.18894362449646,
                    "y": 0.001644164090976119,
                    "z": -0.03329264745116234
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3232634663581848,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.27685546875,
                        "z": 373.1071472167969
                    },
                    "rotation": {
                        "roll": -0.001373290317133069,
                        "pitch": 0.052606113255023956,
                        "yaw": -90.03921508789062
                    }
                },
                "velocity": {
                    "x": 0.002174204681068659,
                    "y": -0.30705317854881287,
                    "z": 0.10105890035629272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.550232172012329,
                "transform": {
                    "location": {
                        "x": -216.88296508789062,
                        "y": 4302.19189453125,
                        "z": 373.2755126953125
                    },
                    "rotation": {
                        "roll": -0.002044677734375,
                        "pitch": -0.5842270255088806,
                        "yaw": 0.23210753500461578
                    }
                },
                "velocity": {
                    "x": 2.550213575363159,
                    "y": 0.005557333119213581,
                    "z": -0.008006410673260689
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -81.3101577758789,
                        "y": 4294.84716796875,
                        "z": 372.7311096191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23500630259513855,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028271675109863,
                "transform": {
                    "location": {
                        "x": -97.11772918701172,
                        "y": 4294.841796875,
                        "z": 372.8295593261719
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": 0.23340804874897003,
                        "yaw": 179.68333435058594
                    }
                },
                "velocity": {
                    "x": -8.028072357177734,
                    "y": 0.04607267677783966,
                    "z": 0.03297080099582672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00022165598056744784,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0022277829702943563,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2812194526195526
                    }
                },
                "velocity": {
                    "x": 1.106064701161813e-05,
                    "y": -3.5493960695021087e-06,
                    "z": 0.0002213513944298029
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012752491747960448,
                "transform": {
                    "location": {
                        "x": -191.498046875,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.005801105871796608,
                        "pitch": -0.21795132756233215,
                        "yaw": -1.862976312637329
                    }
                },
                "velocity": {
                    "x": -0.00023872771998867393,
                    "y": 0.00014808561536483467,
                    "z": 0.0012439213460311294
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0020418628118932247,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.63671875,
                        "z": 373.1015625
                    },
                    "rotation": {
                        "roll": 9.153728751698509e-05,
                        "pitch": -0.07897747308015823,
                        "yaw": -89.94112396240234
                    }
                },
                "velocity": {
                    "x": -3.662297103801393e-06,
                    "y": 2.0883129764115438e-05,
                    "z": 0.0020417526829987764
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009189750999212265,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.25115966796875
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.22213822603225708,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.4170594113238622e-05,
                    "y": -5.02073708048556e-05,
                    "z": 0.0009174931328743696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.002199579030275345,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2887268066406
                    },
                    "rotation": {
                        "roll": 0.0001825410727178678,
                        "pitch": 0.2216532826423645,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 2.0174978999421e-05,
                    "y": -0.0002768780686892569,
                    "z": 0.0021819898393005133
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.920328617095947,
                "transform": {
                    "location": {
                        "x": -174.48538208007812,
                        "y": 4329.548828125,
                        "z": 373.1590270996094
                    },
                    "rotation": {
                        "roll": -0.00033569327206350863,
                        "pitch": -0.055297207087278366,
                        "yaw": -90.00574493408203
                    }
                },
                "velocity": {
                    "x": -0.0027403589338064194,
                    "y": -6.920327663421631,
                    "z": -0.0021451471839100122
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035449981689453,
                "transform": {
                    "location": {
                        "x": -117.16265106201172,
                        "y": 4294.95654296875,
                        "z": 372.8703308105469
                    },
                    "rotation": {
                        "roll": -9.155282168649137e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.6465301513672
                    }
                },
                "velocity": {
                    "x": -8.03523063659668,
                    "y": 0.04957978054881096,
                    "z": 0.03252653032541275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.493600845336914,
                "transform": {
                    "location": {
                        "x": -208.48265075683594,
                        "y": 4298.90478515625,
                        "z": 373.2394104003906
                    },
                    "rotation": {
                        "roll": 0.0061448076739907265,
                        "pitch": -0.037204038351774216,
                        "yaw": 0.13954921066761017
                    }
                },
                "velocity": {
                    "x": 7.4935526847839355,
                    "y": -0.0005620647571049631,
                    "z": -0.026938432827591896
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.7509694695472717,
                "transform": {
                    "location": {
                        "x": -202.44749450683594,
                        "y": 4302.14404296875,
                        "z": 373.1756591796875
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.5060964822769165,
                        "yaw": -0.11648557335138321
                    }
                },
                "velocity": {
                    "x": 0.7509613633155823,
                    "y": -0.002268808428198099,
                    "z": -0.0026580810081213713
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008821122464723885,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 6.0564279920072295e-06,
                    "y": -2.166847843909636e-05,
                    "z": 0.0008818252827040851
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2021868228912354,
                "transform": {
                    "location": {
                        "x": -138.81179809570312,
                        "y": 4295.09033203125,
                        "z": 372.9548645019531
                    },
                    "rotation": {
                        "roll": 0.0028012909460812807,
                        "pitch": 0.22899574041366577,
                        "yaw": -179.51548767089844
                    }
                },
                "velocity": {
                    "x": -1.2021785974502563,
                    "y": 0.0029809644911438227,
                    "z": 0.003279266180470586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3578898310661316,
        "expert_target_speed": 6.6149766298088,
        "target_point": [
            9.118924005857094,
            0.21148218153635817
        ],
        "target_point_next": [
            29.612687189996183,
            -0.30361914908032156
        ]
    },
    "550": {
        "acceleration": [
            2.801952362060547,
            0.2129562497138977,
            -0.003566369414329529
        ],
        "angular_velocity": [
            -0.26194706559181213,
            -1.0338715314865112,
            -5.847886562347412
        ],
        "forward_vector": [
            -0.999990701675415,
            -0.0032268890645354986,
            0.00287353596650064
        ],
        "right_vector": [
            0.0032197008840739727,
            -0.9999916553497314,
            -0.002502551069483161
        ],
        "location": [
            -158.40374755859375,
            4292.4775390625,
            373.02783203125
        ],
        "rotation": [
            0.1433863490819931,
            0.16464170813560486,
            -179.8151092529297
        ],
        "velocity": [
            -6.514801025390625,
            0.023463984951376915,
            0.023927249014377594
        ],
        "speed": 6.514843279697566,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.11948013305664,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.6314796084770933e-05,
                -1.9654276002256665e-06,
                0.0019159670919179916
            ],
            "speed_kmh": 0.00689773521737052,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.044408734887838364,
                "transform": {
                    "location": {
                        "x": -223.74710083007812,
                        "y": 4298.94384765625,
                        "z": 373.25933837890625
                    },
                    "rotation": {
                        "roll": 0.0008086425368674099,
                        "pitch": -0.8794209361076355,
                        "yaw": -0.1459655910730362
                    }
                },
                "velocity": {
                    "x": -0.011207577772438526,
                    "y": -0.0003246329724788666,
                    "z": 0.042969994246959686
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8882701396942139,
                "transform": {
                    "location": {
                        "x": -174.56109619140625,
                        "y": 4348.9619140625,
                        "z": 373.1201171875
                    },
                    "rotation": {
                        "roll": -0.00228883046656847,
                        "pitch": 0.21961788833141327,
                        "yaw": -89.90218353271484
                    }
                },
                "velocity": {
                    "x": 0.010122593492269516,
                    "y": -1.8881261348724365,
                    "z": 0.020999850705266
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.002608702052384615,
                "transform": {
                    "location": {
                        "x": -216.74530029296875,
                        "y": 4302.1923828125,
                        "z": 373.27490234375
                    },
                    "rotation": {
                        "roll": -0.0036010739859193563,
                        "pitch": -0.5407050848007202,
                        "yaw": 0.19719208776950836
                    }
                },
                "velocity": {
                    "x": -0.002000664360821247,
                    "y": 3.840932185994461e-05,
                    "z": 0.001673676772043109
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.31609344482422,
                        "y": 4294.859375,
                        "z": 372.73931884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23500630259513855,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02220344543457,
                "transform": {
                    "location": {
                        "x": -99.12358856201172,
                        "y": 4294.85302734375,
                        "z": 372.8376770019531
                    },
                    "rotation": {
                        "roll": -9.155265433946624e-05,
                        "pitch": 0.23316214978694916,
                        "yaw": 179.6578826904297
                    }
                },
                "velocity": {
                    "x": -8.022001266479492,
                    "y": 0.04634983465075493,
                    "z": 0.033104781061410904
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007544190157204866,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0022277829702943563,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2812194526195526
                    }
                },
                "velocity": {
                    "x": 8.25665847514756e-06,
                    "y": -7.0423129727714695e-06,
                    "z": 0.0007543409592472017
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011649857042357326,
                "transform": {
                    "location": {
                        "x": -191.4979705810547,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.0058706384152174,
                        "pitch": -0.2097482681274414,
                        "yaw": -1.862976312637329
                    }
                },
                "velocity": {
                    "x": -6.996531010372564e-05,
                    "y": 0.00029855099273845553,
                    "z": 0.001123905647546053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001401257235556841,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.63671875,
                        "z": 373.10150146484375
                    },
                    "rotation": {
                        "roll": 0.000911574112251401,
                        "pitch": -0.0733630582690239,
                        "yaw": -89.94113159179688
                    }
                },
                "velocity": {
                    "x": 2.3653490643482655e-05,
                    "y": 1.868242406999343e-06,
                    "z": 0.0014010564191266894
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001916037523187697,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.6314796084770933e-05,
                    "y": -1.9654276002256665e-06,
                    "z": 0.0019159670919179916
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001449504168704152,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.288818359375
                    },
                    "rotation": {
                        "roll": 0.000722974946256727,
                        "pitch": 0.22183087468147278,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.5068873835843988e-05,
                    "y": -3.67214511243219e-07,
                    "z": 0.0014494258211925626
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.323281288146973,
                "transform": {
                    "location": {
                        "x": -174.4853057861328,
                        "y": 4327.88232421875,
                        "z": 373.15838623046875
                    },
                    "rotation": {
                        "roll": 0.0010592673206701875,
                        "pitch": -0.07953071594238281,
                        "yaw": -90.01546478271484
                    }
                },
                "velocity": {
                    "x": -0.003049481427296996,
                    "y": -6.323280334472656,
                    "z": -0.0020219897851347923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.070418357849121,
                "transform": {
                    "location": {
                        "x": -119.17609405517578,
                        "y": 4294.96875,
                        "z": 372.8783264160156
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": 0.22657784819602966,
                        "yaw": 179.6424560546875
                    }
                },
                "velocity": {
                    "x": -8.07019329071045,
                    "y": 0.05055209994316101,
                    "z": 0.03274662792682648
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.2467427253723145,
                "transform": {
                    "location": {
                        "x": -206.5779571533203,
                        "y": 4298.904296875,
                        "z": 373.2335205078125
                    },
                    "rotation": {
                        "roll": 0.004208722617477179,
                        "pitch": -0.1728515923023224,
                        "yaw": -0.004150390159338713
                    }
                },
                "velocity": {
                    "x": 7.246684551239014,
                    "y": -0.0076667689718306065,
                    "z": -0.02803855389356613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.964653491973877,
                "transform": {
                    "location": {
                        "x": -202.06007385253906,
                        "y": 4302.1435546875,
                        "z": 373.1724548339844
                    },
                    "rotation": {
                        "roll": -0.002197265625,
                        "pitch": -0.2603667974472046,
                        "yaw": -0.1893005073070526
                    }
                },
                "velocity": {
                    "x": 1.964638352394104,
                    "y": -0.004703592974692583,
                    "z": -0.0061246296390891075
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009856799151748419,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.5912986782495864e-05,
                    "y": 4.5989127102075145e-06,
                    "z": 0.0009855407988652587
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9464622735977173,
                "transform": {
                    "location": {
                        "x": -139.20921325683594,
                        "y": 4295.09130859375,
                        "z": 372.9563293457031
                    },
                    "rotation": {
                        "roll": 0.0037423449102789164,
                        "pitch": 0.23984891176223755,
                        "yaw": -179.64198303222656
                    }
                },
                "velocity": {
                    "x": -1.946431040763855,
                    "y": 0.009027259424328804,
                    "z": 0.006351957097649574
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.42291247844696045,
        "expert_target_speed": 5.8371923882017684,
        "target_point": [
            27.922018607873664,
            0.16965544730582
        ],
        "target_point_next": [
            38.92153654553515,
            0.06872714764191423
        ]
    },
    "555": {
        "acceleration": [
            24.277353286743164,
            -0.12509629130363464,
            -0.1752910315990448
        ],
        "angular_velocity": [
            -0.30186110734939575,
            -5.636284828186035,
            0.4742613732814789
        ],
        "forward_vector": [
            -0.9999856352806091,
            0.0007552119204774499,
            -0.0053087216801941395
        ],
        "right_vector": [
            -0.0007498258491978049,
            -0.9999991655349731,
            -0.0010164914419874549
        ],
        "location": [
            -159.8805389404297,
            4292.48193359375,
            373.03472900390625
        ],
        "rotation": [
            0.058241501450538635,
            -0.30416879057884216,
            179.95672607421875
        ],
        "velocity": [
            -4.320553779602051,
            0.01590181142091751,
            0.01091940887272358
        ],
        "speed": 4.320583042835774,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.642677307128906,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0251849744236097e-05,
                3.3198371056641918e-06,
                0.0009442557930015028
            ],
            "speed_kmh": 0.003399542206192761,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00915563479065895,
                "transform": {
                    "location": {
                        "x": -223.743896484375,
                        "y": 4298.94384765625,
                        "z": 373.2647705078125
                    },
                    "rotation": {
                        "roll": -0.001312255859375,
                        "pitch": -0.3721974790096283,
                        "yaw": -0.1460571140050888
                    }
                },
                "velocity": {
                    "x": -0.0029864944517612457,
                    "y": 1.73152639035834e-05,
                    "z": 0.008654836565256119
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0249438285827637,
                "transform": {
                    "location": {
                        "x": -174.5567169189453,
                        "y": 4348.34130859375,
                        "z": 373.12261962890625
                    },
                    "rotation": {
                        "roll": -0.003051755018532276,
                        "pitch": 0.21417422592639923,
                        "yaw": -89.7586669921875
                    }
                },
                "velocity": {
                    "x": 0.021670887246727943,
                    "y": -3.0248615741729736,
                    "z": 0.0053557297214865685
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014049375895410776,
                "transform": {
                    "location": {
                        "x": -216.74359130859375,
                        "y": 4302.1923828125,
                        "z": 373.27288818359375
                    },
                    "rotation": {
                        "roll": -0.0017395016038790345,
                        "pitch": -0.2920861840248108,
                        "yaw": 0.1971665322780609
                    }
                },
                "velocity": {
                    "x": -0.000583962129894644,
                    "y": 4.1822375351330265e-05,
                    "z": 0.0012771409237757325
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -85.32241821289062,
                        "y": 4294.87158203125,
                        "z": 372.7476501464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23500630259513855,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02951717376709,
                "transform": {
                    "location": {
                        "x": -101.13023376464844,
                        "y": 4294.86474609375,
                        "z": 372.84576416015625
                    },
                    "rotation": {
                        "roll": 0.00021188429673202336,
                        "pitch": 0.23295041918754578,
                        "yaw": 179.68045043945312
                    }
                },
                "velocity": {
                    "x": -8.029317855834961,
                    "y": 0.04656185582280159,
                    "z": 0.032079875469207764
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000621837330982089,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.20044554769992828,
                        "yaw": -0.28125
                    }
                },
                "velocity": {
                    "x": 9.59165390668204e-06,
                    "y": -1.551717650727369e-05,
                    "z": 0.0006215696921572089
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00022781749430578202,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 3.1672192562837154e-05,
                    "y": 1.8913950725618633e-06,
                    "z": 0.00022559722128789872
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001415317878127098,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.63671875,
                        "z": 373.1015625
                    },
                    "rotation": {
                        "roll": 0.0004532840976025909,
                        "pitch": -0.07037826627492905,
                        "yaw": -89.94115447998047
                    }
                },
                "velocity": {
                    "x": 2.7753763788496144e-05,
                    "y": 1.2225098089402309e-06,
                    "z": 0.0014150452334433794
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009443172602914274,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0251849744236097e-05,
                    "y": 3.3198371056641918e-06,
                    "z": 0.0009442557930015028
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0019243729766458273,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889099121094
                    },
                    "rotation": {
                        "roll": 0.0009784222347661853,
                        "pitch": 0.22174890339374542,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.896552748803515e-05,
                    "y": -8.602818297731574e-07,
                    "z": 0.0019242792623117566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.7303378582000732,
                "transform": {
                    "location": {
                        "x": -174.48202514648438,
                        "y": 4326.94384765625,
                        "z": 373.16119384765625
                    },
                    "rotation": {
                        "roll": 0.0036457970272749662,
                        "pitch": -0.4844653010368347,
                        "yaw": -90.3357162475586
                    }
                },
                "velocity": {
                    "x": 0.005429066251963377,
                    "y": -0.7303165197372437,
                    "z": -0.0012908839853480458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.03600025177002,
                "transform": {
                    "location": {
                        "x": -121.18952941894531,
                        "y": 4294.9814453125,
                        "z": 372.88623046875
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.22641393542289734,
                        "yaw": 179.63853454589844
                    }
                },
                "velocity": {
                    "x": -8.035773277282715,
                    "y": 0.050679199397563934,
                    "z": 0.032763175666332245
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.012474060058594,
                "transform": {
                    "location": {
                        "x": -205.02975463867188,
                        "y": 4298.90283203125,
                        "z": 373.2300720214844
                    },
                    "rotation": {
                        "roll": 0.0003774143988266587,
                        "pitch": -0.45956242084503174,
                        "yaw": -0.062499988824129105
                    }
                },
                "velocity": {
                    "x": 4.012424945831299,
                    "y": -0.0039960420690476894,
                    "z": -0.01941589266061783
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.321981906890869,
                "transform": {
                    "location": {
                        "x": -201.40585327148438,
                        "y": 4302.13916015625,
                        "z": 373.16925048828125
                    },
                    "rotation": {
                        "roll": 0.00041202775901183486,
                        "pitch": -0.15488135814666748,
                        "yaw": -0.0664672777056694
                    }
                },
                "velocity": {
                    "x": 3.3219234943389893,
                    "y": -0.016650134697556496,
                    "z": -0.010558385401964188
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008239680319093168,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.054618496709736e-05,
                    "y": 4.099566979220981e-07,
                    "z": 0.0008239004528149962
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7587933540344238,
                "transform": {
                    "location": {
                        "x": -139.73500061035156,
                        "y": 4295.09130859375,
                        "z": 372.9584045410156
                    },
                    "rotation": {
                        "roll": 0.002147558145225048,
                        "pitch": 0.22217237949371338,
                        "yaw": -179.81106567382812
                    }
                },
                "velocity": {
                    "x": -1.7587555646896362,
                    "y": 0.009181298315525055,
                    "z": 0.006961545906960964
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.40013810992240906,
        "expert_target_speed": 3.754148914864092,
        "target_point": [
            26.44432723912769,
            0.2841335864075532
        ],
        "target_point_next": [
            37.44415989744407,
            0.22701203490238936
        ]
    },
    "560": {
        "acceleration": [
            4.598415374755859,
            -0.04056444391608238,
            -0.006282873917371035
        ],
        "angular_velocity": [
            -0.11745020747184753,
            0.8487325310707092,
            -0.0005563895683735609
        ],
        "forward_vector": [
            -0.9996932744979858,
            0.00014983188884798437,
            -0.02476593665778637
        ],
        "right_vector": [
            -0.00014336146705318242,
            -0.9999999403953552,
            -0.0002630380622576922
        ],
        "location": [
            -160.3117218017578,
            4292.48291015625,
            373.0401916503906
        ],
        "rotation": [
            0.015075594186782837,
            -1.4191287755966187,
            179.9914093017578
        ],
        "velocity": [
            0.0025066190864890814,
            0.0011780974455177784,
            -0.0007646498852409422
        ],
        "speed": 0.0027696665568055067,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.211483001708984,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                6.2090903156786226e-06,
                4.443776560947299e-06,
                0.00016668805619701743
            ],
            "speed_kmh": 0.0006007062311039386,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.504027247428894,
                "transform": {
                    "location": {
                        "x": -223.556396484375,
                        "y": 4298.94384765625,
                        "z": 373.2650451660156
                    },
                    "rotation": {
                        "roll": -0.004608154296875,
                        "pitch": -0.022280076518654823,
                        "yaw": -0.11572263389825821
                    }
                },
                "velocity": {
                    "x": 1.5040152072906494,
                    "y": 0.004564823117107153,
                    "z": -0.00390656478703022
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.522095680236816,
                "transform": {
                    "location": {
                        "x": -174.54937744140625,
                        "y": 4347.3876953125,
                        "z": 373.1234436035156
                    },
                    "rotation": {
                        "roll": -0.0028381177689880133,
                        "pitch": 0.2526213526725769,
                        "yaw": -89.64201354980469
                    }
                },
                "velocity": {
                    "x": 0.03600829839706421,
                    "y": -4.521951675415039,
                    "z": 0.0017940711695700884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1157000064849854,
                "transform": {
                    "location": {
                        "x": -216.615234375,
                        "y": 4302.1923828125,
                        "z": 373.2712097167969
                    },
                    "rotation": {
                        "roll": -0.0028991696890443563,
                        "pitch": -0.14282608032226562,
                        "yaw": 0.19725778698921204
                    }
                },
                "velocity": {
                    "x": 1.1156905889511108,
                    "y": 0.0028873449191451073,
                    "z": -0.003575830487534404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -87.32952880859375,
                        "y": 4294.88330078125,
                        "z": 372.7558898925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23358562588691711,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024656295776367,
                "transform": {
                    "location": {
                        "x": -103.1371078491211,
                        "y": 4294.87646484375,
                        "z": 372.8538513183594
                    },
                    "rotation": {
                        "roll": 0.0001476241450291127,
                        "pitch": 0.230423241853714,
                        "yaw": 179.65489196777344
                    }
                },
                "velocity": {
                    "x": -8.02444076538086,
                    "y": 0.04864474758505821,
                    "z": 0.03309856355190277
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.20044554769992828,
                        "yaw": -0.28125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009695675689727068,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": -1.2627951946342364e-05,
                    "y": -5.5931162933120504e-05,
                    "z": 0.0009678705828264356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014644907787442207,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.63671875,
                        "z": 373.1015625
                    },
                    "rotation": {
                        "roll": 0.0004532840976025909,
                        "pitch": -0.07037826627492905,
                        "yaw": -89.94115447998047
                    }
                },
                "velocity": {
                    "x": -1.899427115858998e-05,
                    "y": -8.812136911728885e-06,
                    "z": 0.0014643410686403513
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00016686283925082535,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.2090903156786226e-06,
                    "y": 4.443776560947299e-06,
                    "z": 0.00016668805619701743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001392028876580298,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0009899534052237868,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.5866942703723907e-05,
                    "y": 8.73503722687019e-06,
                    "z": 0.001391911064274609
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8911477327346802,
                "transform": {
                    "location": {
                        "x": -174.4821014404297,
                        "y": 4326.85791015625,
                        "z": 373.1584167480469
                    },
                    "rotation": {
                        "roll": 0.0023979267571121454,
                        "pitch": -0.1680021584033966,
                        "yaw": -90.32537078857422
                    }
                },
                "velocity": {
                    "x": -0.00153883988969028,
                    "y": -0.8911457657814026,
                    "z": -0.0010602378752082586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.913025856018066,
                "transform": {
                    "location": {
                        "x": -123.19702911376953,
                        "y": 4294.994140625,
                        "z": 372.8941650390625
                    },
                    "rotation": {
                        "roll": -0.0008544918964616954,
                        "pitch": 0.22248657047748566,
                        "yaw": 179.6405029296875
                    }
                },
                "velocity": {
                    "x": -7.91280460357666,
                    "y": 0.04938199743628502,
                    "z": 0.03261716663837433
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3926682472229004,
                "transform": {
                    "location": {
                        "x": -204.4803924560547,
                        "y": 4298.90283203125,
                        "z": 373.2276611328125
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.42834845185279846,
                        "yaw": -0.0814819410443306
                    }
                },
                "velocity": {
                    "x": 2.392653465270996,
                    "y": -0.0033078929409384727,
                    "z": -0.007709674537181854
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.1774415373802185,
                "transform": {
                    "location": {
                        "x": -200.88734436035156,
                        "y": 4302.1416015625,
                        "z": 373.1687316894531
                    },
                    "rotation": {
                        "roll": 0.0016917531611397862,
                        "pitch": -0.37545546889305115,
                        "yaw": -0.43173208832740784
                    }
                },
                "velocity": {
                    "x": 0.17742253839969635,
                    "y": -0.0004184913414064795,
                    "z": -0.0025620078667998314
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001250213710591197,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 2.064231739495881e-05,
                    "y": -3.663734969450161e-05,
                    "z": 0.0012495062546804547
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4877117872238159,
                "transform": {
                    "location": {
                        "x": -139.83116149902344,
                        "y": 4295.091796875,
                        "z": 372.958984375
                    },
                    "rotation": {
                        "roll": 0.0013816982973366976,
                        "pitch": 0.199113667011261,
                        "yaw": -179.83323669433594
                    }
                },
                "velocity": {
                    "x": -0.4877048134803772,
                    "y": 0.0014512635534629226,
                    "z": 0.0021706388797611
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.40347710251808167,
        "expert_target_speed": 0.0,
        "target_point": [
            26.013311453962192,
            0.26903130318680585
        ],
        "target_point_next": [
            37.01310750343949,
            0.2052484488021283
        ]
    },
    "565": {
        "acceleration": [
            -0.023801736533641815,
            -0.0012524796184152365,
            0.0070590549148619175
        ],
        "angular_velocity": [
            -0.022235753014683723,
            3.1034891605377197,
            -0.001410129014402628
        ],
        "forward_vector": [
            -0.9999513030052185,
            0.00015296984929591417,
            -0.009866314940154552
        ],
        "right_vector": [
            -0.0001522600359749049,
            -1.0,
            -7.269412890309468e-05
        ],
        "location": [
            -160.31765747070312,
            4292.48291015625,
            373.0369873046875
        ],
        "rotation": [
            0.004165269900113344,
            -0.5653073787689209,
            179.99124145507812
        ],
        "velocity": [
            0.009639078751206398,
            0.00022201873071026057,
            0.0019714380614459515
        ],
        "speed": 0.009641635311955379,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.20555877685547,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.6370080629712902e-05,
                -1.997174149437342e-05,
                0.0012796215014532208
            ],
            "speed_kmh": 0.004607575344935208,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.012456178665161,
                "transform": {
                    "location": {
                        "x": -222.9931182861328,
                        "y": 4298.94580078125,
                        "z": 373.2629699707031
                    },
                    "rotation": {
                        "roll": -0.004425047896802425,
                        "pitch": 0.06887562572956085,
                        "yaw": -0.0461731031537056
                    }
                },
                "velocity": {
                    "x": 3.012427568435669,
                    "y": 0.00731340516358614,
                    "z": -0.01091811154037714
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.506653785705566,
                "transform": {
                    "location": {
                        "x": -174.53858947753906,
                        "y": 4346.099609375,
                        "z": 373.1242980957031
                    },
                    "rotation": {
                        "roll": -0.0008850081358104944,
                        "pitch": 0.19524778425693512,
                        "yaw": -89.636962890625
                    }
                },
                "velocity": {
                    "x": 0.04592627286911011,
                    "y": -5.506462097167969,
                    "z": 0.0019671344198286533
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9588459730148315,
                "transform": {
                    "location": {
                        "x": -216.2274932861328,
                        "y": 4302.19287109375,
                        "z": 373.26947021484375
                    },
                    "rotation": {
                        "roll": -0.0018005367601290345,
                        "pitch": -0.12890614569187164,
                        "yaw": 0.17478680610656738
                    }
                },
                "velocity": {
                    "x": 1.9588342905044556,
                    "y": 0.0028823893517255783,
                    "z": -0.006096305791288614
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -89.33570098876953,
                        "y": 4294.89501953125,
                        "z": 372.76409912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23358562588691711,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02547836303711,
                "transform": {
                    "location": {
                        "x": -105.1429672241211,
                        "y": 4294.88818359375,
                        "z": 372.8619079589844
                    },
                    "rotation": {
                        "roll": 0.000548415002413094,
                        "pitch": 0.23084671795368195,
                        "yaw": 179.6788787841797
                    }
                },
                "velocity": {
                    "x": -8.025272369384766,
                    "y": 0.046906355768442154,
                    "z": 0.03329717740416527
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005931436317041516,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2812804877758026
                    }
                },
                "velocity": {
                    "x": 5.41567806067178e-06,
                    "y": 1.42675899041933e-05,
                    "z": 0.0005929472972638905
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00042338392813690007,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 2.2228434772841865e-06,
                    "y": -3.5729631235881243e-06,
                    "z": 0.0004233630024828017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001293942768825218,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.63671875,
                        "z": 373.1015930175781
                    },
                    "rotation": {
                        "roll": -0.00018310789891984314,
                        "pitch": -0.07028264552354813,
                        "yaw": -89.94115447998047
                    }
                },
                "velocity": {
                    "x": 1.0301376278221142e-05,
                    "y": 4.42950067736092e-06,
                    "z": -0.00012890748621430248
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012798820389434695,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.6370080629712902e-05,
                    "y": -1.997174149437342e-05,
                    "z": 0.0012796215014532208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001120064640417695,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0009899534052237868,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 6.204918008734239e-06,
                    "y": 4.8507554311072454e-05,
                    "z": 0.001118996529839933
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6566506624221802,
                "transform": {
                    "location": {
                        "x": -174.4824981689453,
                        "y": 4326.5302734375,
                        "z": 373.15667724609375
                    },
                    "rotation": {
                        "roll": -0.0005798343918286264,
                        "pitch": 0.011672792956233025,
                        "yaw": -90.27887725830078
                    }
                },
                "velocity": {
                    "x": -0.0023520502727478743,
                    "y": -1.656646966934204,
                    "z": -0.002620105631649494
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.606276512145996,
                "transform": {
                    "location": {
                        "x": -125.02452850341797,
                        "y": 4295.00537109375,
                        "z": 372.9015808105469
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.20097830891609192,
                        "yaw": 179.6465606689453
                    }
                },
                "velocity": {
                    "x": -6.606101036071777,
                    "y": 0.04047922417521477,
                    "z": 0.02608529105782509
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.808361291885376,
                "transform": {
                    "location": {
                        "x": -203.69155883789062,
                        "y": 4298.9013671875,
                        "z": 373.2223205566406
                    },
                    "rotation": {
                        "roll": 0.00119028240442276,
                        "pitch": -0.13610516488552094,
                        "yaw": -0.1062621995806694
                    }
                },
                "velocity": {
                    "x": 3.808305501937866,
                    "y": -0.014520476572215557,
                    "z": -0.014631710015237331
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.490962415933609,
                "transform": {
                    "location": {
                        "x": -200.59788513183594,
                        "y": 4302.1416015625,
                        "z": 373.1671447753906
                    },
                    "rotation": {
                        "roll": 0.0024560322053730488,
                        "pitch": -0.2785077691078186,
                        "yaw": -0.5221861600875854
                    }
                },
                "velocity": {
                    "x": 0.49092763662338257,
                    "y": -0.0006521400646306574,
                    "z": -0.005805568769574165
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011165457544848323,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.2203268852317706e-05,
                    "y": 5.490555281539855e-07,
                    "z": 0.0011164789320901036
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2583788633346558,
                "transform": {
                    "location": {
                        "x": -140.046875,
                        "y": 4295.09228515625,
                        "z": 372.95953369140625
                    },
                    "rotation": {
                        "roll": 0.0018884440651163459,
                        "pitch": 0.23341487348079681,
                        "yaw": -179.87286376953125
                    }
                },
                "velocity": {
                    "x": -1.258355736732483,
                    "y": 0.006850120145827532,
                    "z": 0.0033525084145367146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.38676512241363525,
        "expert_target_speed": 0.0,
        "target_point": [
            26.007375015274768,
            0.26910482222634147
        ],
        "target_point_next": [
            37.007171247191266,
            0.20535343851085922
        ]
    },
    "570": {
        "acceleration": [
            0.2500542998313904,
            -0.0035787904635071754,
            -0.0056570000015199184
        ],
        "angular_velocity": [
            0.00017900063539855182,
            1.0481300354003906,
            0.5108156204223633
        ],
        "forward_vector": [
            -0.999999463558197,
            0.00022378750145435333,
            -0.0010076758917421103
        ],
        "right_vector": [
            -0.00022374663967639208,
            -1.0,
            -4.066342444275506e-05
        ],
        "location": [
            -160.32139587402344,
            4292.48291015625,
            373.03515625
        ],
        "rotation": [
            0.002329843817278743,
            -0.05773558467626572,
            179.9871826171875
        ],
        "velocity": [
            0.017265863716602325,
            -8.759254706092179e-05,
            0.001270399079658091
        ],
        "speed": 0.017266085900822608,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.20182418823242,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.56382905819919e-06,
                -3.868395197059726e-06,
                0.0004485584213398397
            ],
            "speed_kmh": 0.0016150999226574795,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.548674583435059,
                "transform": {
                    "location": {
                        "x": -222.0340576171875,
                        "y": 4298.94873046875,
                        "z": 373.2593688964844
                    },
                    "rotation": {
                        "roll": -0.005950927734375,
                        "pitch": 0.09370335936546326,
                        "yaw": 0.06150073930621147
                    }
                },
                "velocity": {
                    "x": 4.548617362976074,
                    "y": 0.014322916977107525,
                    "z": -0.017663298174738884
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.004674434661865,
                "transform": {
                    "location": {
                        "x": -174.52694702148438,
                        "y": 4344.64013671875,
                        "z": 373.1246032714844
                    },
                    "rotation": {
                        "roll": 0.0013780428562313318,
                        "pitch": 0.10465898364782333,
                        "yaw": -89.68620300292969
                    }
                },
                "velocity": {
                    "x": 0.04684445634484291,
                    "y": -6.004491329193115,
                    "z": 0.0015641688369214535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.1741771697998047,
                "transform": {
                    "location": {
                        "x": -215.58554077148438,
                        "y": 4302.19384765625,
                        "z": 373.2668151855469
                    },
                    "rotation": {
                        "roll": -0.00140380859375,
                        "pitch": -0.10073845088481903,
                        "yaw": 0.14942842721939087
                    }
                },
                "velocity": {
                    "x": 3.1741552352905273,
                    "y": 0.004747321829199791,
                    "z": -0.010772962123155594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.905867576599121,
                "transform": {
                    "location": {
                        "x": -91.32054138183594,
                        "y": 4294.9013671875,
                        "z": 372.7716369628906
                    },
                    "rotation": {
                        "roll": -0.0487976111471653,
                        "pitch": 0.17297452688217163,
                        "yaw": 179.8399200439453
                    }
                },
                "velocity": {
                    "x": -7.90583610534668,
                    "y": -0.00854545272886753,
                    "z": 0.020661314949393272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0280179977417,
                "transform": {
                    "location": {
                        "x": -107.14952850341797,
                        "y": 4294.89990234375,
                        "z": 372.8699035644531
                    },
                    "rotation": {
                        "roll": 0.00023901528038550168,
                        "pitch": 0.2307237833738327,
                        "yaw": 179.64833068847656
                    }
                },
                "velocity": {
                    "x": -8.027812004089355,
                    "y": 0.047326307743787766,
                    "z": 0.03271811455488205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019978213822469115,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2812804877758026
                    }
                },
                "velocity": {
                    "x": 7.246956101880642e-06,
                    "y": -6.051710897736484e-06,
                    "z": 0.000199558911845088
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012817494571208954,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 3.126263436570298e-06,
                    "y": 4.50538209406659e-06,
                    "z": 0.0012817376991733909
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003520818136166781,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.63671875,
                        "z": 373.1015930175781
                    },
                    "rotation": {
                        "roll": -0.00018310789891984314,
                        "pitch": -0.07028264552354813,
                        "yaw": -89.94115447998047
                    }
                },
                "velocity": {
                    "x": -6.309405307547422e-06,
                    "y": 1.9012391021533404e-06,
                    "z": -0.0003520201425999403
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004486388643272221,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.56382905819919e-06,
                    "y": -3.868395197059726e-06,
                    "z": 0.0004485584213398397
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016510883579030633,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00017162073345389217,
                        "pitch": 0.2216532826423645,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.884561061160639e-05,
                    "y": -4.458863713807659e-06,
                    "z": 0.0016509747365489602
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1724164485931396,
                "transform": {
                    "location": {
                        "x": -174.48280334472656,
                        "y": 4326.01123046875,
                        "z": 373.15625
                    },
                    "rotation": {
                        "roll": -0.001159667270258069,
                        "pitch": 0.02349584922194481,
                        "yaw": -90.23773193359375
                    }
                },
                "velocity": {
                    "x": -0.0027580575551837683,
                    "y": -2.1724131107330322,
                    "z": -0.002675075549632311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6953201293945312,
                "transform": {
                    "location": {
                        "x": -126.26828002929688,
                        "y": 4295.0126953125,
                        "z": 372.9066467285156
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": 0.14192448556423187,
                        "yaw": 179.64779663085938
                    }
                },
                "velocity": {
                    "x": -2.6952528953552246,
                    "y": 0.01651790179312229,
                    "z": 0.00946678128093481
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0064139366149902,
                "transform": {
                    "location": {
                        "x": -202.80796813964844,
                        "y": 4298.89794921875,
                        "z": 373.2200622558594
                    },
                    "rotation": {
                        "roll": 0.00015227997209876776,
                        "pitch": -0.2460029125213623,
                        "yaw": -0.1488341987133026
                    }
                },
                "velocity": {
                    "x": 3.0063693523406982,
                    "y": -0.011529607698321342,
                    "z": -0.011651257984340191
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2053991556167603,
                "transform": {
                    "location": {
                        "x": -200.357177734375,
                        "y": 4302.1416015625,
                        "z": 373.1658630371094
                    },
                    "rotation": {
                        "roll": 0.0012610049452632666,
                        "pitch": -0.21914660930633545,
                        "yaw": -0.5849608182907104
                    }
                },
                "velocity": {
                    "x": 1.2053945064544678,
                    "y": -0.0033609899692237377,
                    "z": -0.00014287947851698846
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001096062595024705,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.4960057342250366e-05,
                    "y": 1.8487098714103922e-05,
                    "z": 0.0010958045022562146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0064778327941895,
                "transform": {
                    "location": {
                        "x": -140.4582061767578,
                        "y": 4295.09375,
                        "z": 372.9610595703125
                    },
                    "rotation": {
                        "roll": 0.0015887976624071598,
                        "pitch": 0.23738321661949158,
                        "yaw": 179.99526977539062
                    }
                },
                "velocity": {
                    "x": -2.006429433822632,
                    "y": 0.012291674502193928,
                    "z": 0.006581010762602091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39158421754837036,
        "expert_target_speed": 0.0,
        "target_point": [
            26.00361755604563,
            0.2709393771915828
        ],
        "target_point_next": [
            37.003418259626706,
            0.2079642701474636
        ]
    },
    "575": {
        "acceleration": [
            -0.6087995171546936,
            -0.0047622802667319775,
            0.009769629687070847
        ],
        "angular_velocity": [
            0.014514526352286339,
            0.4065436124801636,
            -0.0010455033043399453
        ],
        "forward_vector": [
            -0.999997615814209,
            0.0003248763387091458,
            0.002155778929591179
        ],
        "right_vector": [
            -0.00032494182232767344,
            -0.9999999403953552,
            -3.002853372890968e-05
        ],
        "location": [
            -160.32772827148438,
            4292.48291015625,
            373.0345764160156
        ],
        "rotation": [
            0.0017205121694132686,
            0.12351713329553604,
            179.98138427734375
        ],
        "velocity": [
            -0.02287345565855503,
            0.00037163481465540826,
            0.001996011706069112
        ],
        "speed": 0.022876474514211036,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.19549560546875,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1162683222210035e-05,
                7.1926483542483766e-06,
                0.001210572081618011
            ],
            "speed_kmh": 0.004358321685472655,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.409030437469482,
                "transform": {
                    "location": {
                        "x": -220.74264526367188,
                        "y": 4298.953125,
                        "z": 373.254638671875
                    },
                    "rotation": {
                        "roll": -0.005493163596838713,
                        "pitch": -0.009705698117613792,
                        "yaw": 0.15305466949939728
                    }
                },
                "velocity": {
                    "x": 5.408946990966797,
                    "y": 0.020191268995404243,
                    "z": -0.022181382402777672
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.018111228942871,
                "transform": {
                    "location": {
                        "x": -174.515380859375,
                        "y": 4342.8154296875,
                        "z": 373.12530517578125
                    },
                    "rotation": {
                        "roll": 0.007791267707943916,
                        "pitch": 0.25445184111595154,
                        "yaw": -89.66167449951172
                    }
                },
                "velocity": {
                    "x": 0.04138680547475815,
                    "y": -8.018003463745117,
                    "z": 0.0019769477657973766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.552393913269043,
                "transform": {
                    "location": {
                        "x": -214.60780334472656,
                        "y": 4302.1962890625,
                        "z": 373.2629699707031
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.07537796348333359,
                        "yaw": 0.12075477838516235
                    }
                },
                "velocity": {
                    "x": 4.5523529052734375,
                    "y": 0.006184653379023075,
                    "z": -0.018305445089936256
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.682058334350586,
                "transform": {
                    "location": {
                        "x": -93.26811981201172,
                        "y": 4294.89794921875,
                        "z": 372.7769775390625
                    },
                    "rotation": {
                        "roll": -0.034881591796875,
                        "pitch": 0.19407981634140015,
                        "yaw": -179.8653106689453
                    }
                },
                "velocity": {
                    "x": -7.681966304779053,
                    "y": -0.02829977124929428,
                    "z": 0.0247478187084198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0253267288208,
                "transform": {
                    "location": {
                        "x": -109.15531158447266,
                        "y": 4294.91162109375,
                        "z": 372.8779296875
                    },
                    "rotation": {
                        "roll": -0.0002136229886673391,
                        "pitch": 0.23033446073532104,
                        "yaw": 179.67616271972656
                    }
                },
                "velocity": {
                    "x": -8.025121688842773,
                    "y": 0.04706701636314392,
                    "z": 0.03280074894428253
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0014281158801168203,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2812804877758026
                    }
                },
                "velocity": {
                    "x": 1.0311156074749306e-05,
                    "y": 1.2636614883376751e-05,
                    "z": 0.0014280227478593588
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008325218223035336,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": -1.0383278095105197e-05,
                    "y": -1.808463093766477e-05,
                    "z": 0.0008322605863213539
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.973800969310105e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.63671875,
                        "z": 373.1015930175781
                    },
                    "rotation": {
                        "roll": -0.00018310789891984314,
                        "pitch": -0.07028264552354813,
                        "yaw": -89.94115447998047
                    }
                },
                "velocity": {
                    "x": -2.730643586801307e-07,
                    "y": -3.311885393486591e-06,
                    "z": -4.9626873078523204e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012106448411941528,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1162683222210035e-05,
                    "y": 7.1926483542483766e-06,
                    "z": 0.001210572081618011
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009791302727535367,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889099121094
                    },
                    "rotation": {
                        "roll": 0.0004898554179817438,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": 1.2914128092234023e-05,
                    "y": -3.440819114075566e-07,
                    "z": 0.0009790450567379594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6786134243011475,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4325.8515625,
                        "z": 373.1574401855469
                    },
                    "rotation": {
                        "roll": -0.0001831015251809731,
                        "pitch": -0.12689124047756195,
                        "yaw": -90.1903076171875
                    }
                },
                "velocity": {
                    "x": -0.0009571557166054845,
                    "y": -0.6786107420921326,
                    "z": -0.001635055523365736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3997107744216919,
                "transform": {
                    "location": {
                        "x": -126.45335388183594,
                        "y": 4295.013671875,
                        "z": 372.90728759765625
                    },
                    "rotation": {
                        "roll": -0.0016784664476290345,
                        "pitch": 0.15718314051628113,
                        "yaw": 179.64297485351562
                    }
                },
                "velocity": {
                    "x": -0.39969438314437866,
                    "y": 0.0031567576806992292,
                    "z": 0.001767225214280188
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.007384607568383217,
                "transform": {
                    "location": {
                        "x": -202.31600952148438,
                        "y": 4298.896484375,
                        "z": 373.22003173828125
                    },
                    "rotation": {
                        "roll": -0.0016784665640443563,
                        "pitch": -0.4588862359523773,
                        "yaw": -0.173126220703125
                    }
                },
                "velocity": {
                    "x": 0.007378654088824987,
                    "y": 0.00024462121655233204,
                    "z": -0.00016747890913393348
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0017409026622772217,
                "transform": {
                    "location": {
                        "x": -200.22406005859375,
                        "y": 4302.1416015625,
                        "z": 373.16552734375
                    },
                    "rotation": {
                        "roll": 0.0025265426374971867,
                        "pitch": -0.24981415271759033,
                        "yaw": -0.5643920302391052
                    }
                },
                "velocity": {
                    "x": 0.00025692355120554566,
                    "y": -0.0002110830246238038,
                    "z": -0.0017088523600250483
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012270165607333183,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.6478374163853005e-05,
                    "y": 2.6887739295489155e-05,
                    "z": 0.001226611202582717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.16834263503551483,
                "transform": {
                    "location": {
                        "x": -140.89476013183594,
                        "y": 4295.0966796875,
                        "z": 372.9630432128906
                    },
                    "rotation": {
                        "roll": 0.001080258167348802,
                        "pitch": 0.19294600188732147,
                        "yaw": 179.95973205566406
                    }
                },
                "velocity": {
                    "x": -0.16833290457725525,
                    "y": 0.0018094993429258466,
                    "z": -2.500533992133569e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3965723514556885,
        "expert_target_speed": 0.0,
        "target_point": [
            25.99725750648156,
            0.27357841117432785
        ],
        "target_point_next": [
            36.99706454947675,
            0.21172051367297168
        ]
    },
    "580": {
        "acceleration": [
            0.21210607886314392,
            -0.002234239596873522,
            -0.0014444347470998764
        ],
        "angular_velocity": [
            0.005608038976788521,
            0.07833807170391083,
            -0.00297665991820395
        ],
        "forward_vector": [
            -0.9999952912330627,
            0.0003077095316257328,
            0.003049011342227459
        ],
        "right_vector": [
            -0.00030781386885792017,
            -0.9999999403953552,
            -3.375354208401404e-05
        ],
        "location": [
            -160.33140563964844,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.001933944527991116,
            0.17469574511051178,
            179.9823760986328
        ],
        "velocity": [
            -0.006542059127241373,
            -0.00010722616571001709,
            0.0010681056883186102
        ],
        "speed": 0.006542937801548707,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.19181823730469,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.113217331294436e-05,
                -2.568539639469236e-05,
                0.0007088243728503585
            ],
            "speed_kmh": 0.0025537570180360824,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.778723239898682,
                "transform": {
                    "location": {
                        "x": -219.36053466796875,
                        "y": 4298.958984375,
                        "z": 373.2491455078125
                    },
                    "rotation": {
                        "roll": -0.004852294456213713,
                        "pitch": -0.13613931834697723,
                        "yaw": 0.20125526189804077
                    }
                },
                "velocity": {
                    "x": 5.778631687164307,
                    "y": 0.023345159366726875,
                    "z": -0.022571377456188202
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.706544876098633,
                "transform": {
                    "location": {
                        "x": -174.5057830810547,
                        "y": 4340.806640625,
                        "z": 373.1253356933594
                    },
                    "rotation": {
                        "roll": 0.0039021000266075134,
                        "pitch": 0.02600252814590931,
                        "yaw": -89.73255157470703
                    }
                },
                "velocity": {
                    "x": 0.035045597702264786,
                    "y": -7.706464767456055,
                    "z": 0.002136669121682644
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.317740440368652,
                "transform": {
                    "location": {
                        "x": -213.33319091796875,
                        "y": 4302.19677734375,
                        "z": 373.2587890625
                    },
                    "rotation": {
                        "roll": 0.0036137739662081003,
                        "pitch": -0.12094215303659439,
                        "yaw": 0.11967185884714127
                    }
                },
                "velocity": {
                    "x": 5.317692279815674,
                    "y": -0.009375936351716518,
                    "z": -0.02059144526720047
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.764971733093262,
                "transform": {
                    "location": {
                        "x": -95.2074966430664,
                        "y": 4294.89013671875,
                        "z": 372.7838439941406
                    },
                    "rotation": {
                        "roll": -0.01913452334702015,
                        "pitch": 0.20179793238639832,
                        "yaw": -179.7599334716797
                    }
                },
                "velocity": {
                    "x": -7.764832496643066,
                    "y": -0.035807907581329346,
                    "z": 0.029611872509121895
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.22225284576416,
                "transform": {
                    "location": {
                        "x": -111.08609008789062,
                        "y": 4294.9228515625,
                        "z": 372.88616943359375
                    },
                    "rotation": {
                        "roll": 0.00024415948428213596,
                        "pitch": 0.16542033851146698,
                        "yaw": 179.64599609375
                    }
                },
                "velocity": {
                    "x": -7.222070693969727,
                    "y": 0.04267966002225876,
                    "z": 0.02840624749660492
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004147145082242787,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": -0.20065045356750488,
                        "yaw": -0.2813110053539276
                    }
                },
                "velocity": {
                    "x": 3.3380090371792903e-06,
                    "y": -1.108263404603349e-05,
                    "z": 0.00041455295286141336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003371491620782763,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 2.9046423151157796e-05,
                    "y": -6.398781988536939e-05,
                    "z": 0.0003297444782219827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00012036650878144428,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.63671875,
                        "z": 373.1015930175781
                    },
                    "rotation": {
                        "roll": -0.00018310789891984314,
                        "pitch": -0.07028264552354813,
                        "yaw": -89.94115447998047
                    }
                },
                "velocity": {
                    "x": -4.649740503737121e-08,
                    "y": -5.141394012753153e-06,
                    "z": -0.00012025664182147011
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00070937693817541,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.113217331294436e-05,
                    "y": -2.568539639469236e-05,
                    "z": 0.0007088243728503585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016844038618728518,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889099121094
                    },
                    "rotation": {
                        "roll": 0.0004898554179817438,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": 5.393437731981976e-06,
                    "y": -4.1697749111335725e-05,
                    "z": 0.001683879061602056
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.478144645690918,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4325.5625,
                        "z": 373.1560363769531
                    },
                    "rotation": {
                        "roll": -0.0012207027757540345,
                        "pitch": 0.013790151104331017,
                        "yaw": -90.19063568115234
                    }
                },
                "velocity": {
                    "x": -0.001885147299617529,
                    "y": -1.4781426191329956,
                    "z": -0.001591806416399777
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2031917572021484,
                "transform": {
                    "location": {
                        "x": -126.658203125,
                        "y": 4295.01513671875,
                        "z": 372.9075622558594
                    },
                    "rotation": {
                        "roll": -0.0010986324632540345,
                        "pitch": 0.23276600241661072,
                        "yaw": 179.69859313964844
                    }
                },
                "velocity": {
                    "x": -1.2031652927398682,
                    "y": 0.0072570424526929855,
                    "z": 0.0033039283007383347
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008882704423740506,
                "transform": {
                    "location": {
                        "x": -202.31507873535156,
                        "y": 4298.896484375,
                        "z": 373.21881103515625
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.32108035683631897,
                        "yaw": -0.17315673828125
                    }
                },
                "velocity": {
                    "x": -0.0008582016453146935,
                    "y": 5.460034299176186e-05,
                    "z": -0.00022256023657973856
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014246637001633644,
                "transform": {
                    "location": {
                        "x": -200.22390747070312,
                        "y": 4302.1416015625,
                        "z": 373.1653747558594
                    },
                    "rotation": {
                        "roll": 0.0010987173300236464,
                        "pitch": -0.2282034307718277,
                        "yaw": -0.5643920302391052
                    }
                },
                "velocity": {
                    "x": -7.017101597739384e-05,
                    "y": 1.1184470594116647e-07,
                    "z": -0.0014229344669729471
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007890327251516283,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 9.76230967353331e-06,
                    "y": -4.632194716691629e-08,
                    "z": 0.0007889723055996001
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00012738916848320514,
                "transform": {
                    "location": {
                        "x": -140.89491271972656,
                        "y": 4295.0966796875,
                        "z": 372.96295166015625
                    },
                    "rotation": {
                        "roll": 0.0005368502461351454,
                        "pitch": 0.19813011586666107,
                        "yaw": 179.95965576171875
                    }
                },
                "velocity": {
                    "x": 3.7467740185093135e-05,
                    "y": -0.00010945754911517724,
                    "z": 5.332181535777636e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3969936966896057,
        "expert_target_speed": 0.0,
        "target_point": [
            25.993584830945704,
            0.2731310076646231
        ],
        "target_point_next": [
            36.99339081045902,
            0.21108428597006837
        ]
    },
    "585": {
        "acceleration": [
            -0.21219871938228607,
            -0.0016353529645130038,
            0.0062185293063521385
        ],
        "angular_velocity": [
            0.004233194515109062,
            0.08815620094537735,
            0.012835063971579075
        ],
        "forward_vector": [
            -0.9999942183494568,
            0.00032511365134269,
            0.0033867291640490294
        ],
        "right_vector": [
            -0.00032514563645236194,
            -0.9999999403953552,
            -8.896865438146051e-06
        ],
        "location": [
            -160.33460998535156,
            4292.48291015625,
            373.0343322753906
        ],
        "rotation": [
            0.0005097557441331446,
            0.19404566287994385,
            179.9813690185547
        ],
        "velocity": [
            -0.018288504332304,
            4.859863838646561e-05,
            0.0019346236949786544
        ],
        "speed": 0.018288568903562553,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.18861389160156,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.507949703722261e-06,
                1.3415002797501074e-07,
                3.4396489354548976e-05
            ],
            "speed_kmh": 0.00012674381630801534,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.994080066680908,
                "transform": {
                    "location": {
                        "x": -217.552490234375,
                        "y": 4298.96142578125,
                        "z": 373.2421875
                    },
                    "rotation": {
                        "roll": 0.011972126550972462,
                        "pitch": 0.13071615993976593,
                        "yaw": 0.08454423397779465
                    }
                },
                "velocity": {
                    "x": 7.994022846221924,
                    "y": 0.001610799808986485,
                    "z": -0.030227135866880417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.112171173095703,
                "transform": {
                    "location": {
                        "x": -174.4981231689453,
                        "y": 4339.0537109375,
                        "z": 373.1252136230469
                    },
                    "rotation": {
                        "roll": 0.0009275359916500747,
                        "pitch": -0.17638961970806122,
                        "yaw": -89.75432586669922
                    }
                },
                "velocity": {
                    "x": 0.02643061988055706,
                    "y": -6.112113952636719,
                    "z": 0.0015338420635089278
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.4660797119140625,
                "transform": {
                    "location": {
                        "x": -211.96929931640625,
                        "y": 4302.19482421875,
                        "z": 373.25390625
                    },
                    "rotation": {
                        "roll": 0.0015388792380690575,
                        "pitch": -0.1781313270330429,
                        "yaw": 0.038547661155462265
                    }
                },
                "velocity": {
                    "x": 5.4660234451293945,
                    "y": -0.012349138036370277,
                    "z": -0.021506432443857193
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.721662998199463,
                "transform": {
                    "location": {
                        "x": -97.02242279052734,
                        "y": 4294.88427734375,
                        "z": 372.7916259765625
                    },
                    "rotation": {
                        "roll": 0.015025491826236248,
                        "pitch": 0.0010450189001858234,
                        "yaw": -179.83538818359375
                    }
                },
                "velocity": {
                    "x": -6.7216033935546875,
                    "y": -0.006701404694467783,
                    "z": 0.027464093640446663
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.860456943511963,
                "transform": {
                    "location": {
                        "x": -112.62109375,
                        "y": 4294.93359375,
                        "z": 372.89398193359375
                    },
                    "rotation": {
                        "roll": 0.001595736830495298,
                        "pitch": -0.053254980593919754,
                        "yaw": 179.78082275390625
                    }
                },
                "velocity": {
                    "x": -3.8603334426879883,
                    "y": 0.028139136731624603,
                    "z": 0.012756413780152798
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009507828508503735,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": -0.20065045356750488,
                        "yaw": -0.2813110053539276
                    }
                },
                "velocity": {
                    "x": 8.766054634179454e-06,
                    "y": -7.4525410127535e-06,
                    "z": 0.000950713234487921
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010937796905636787,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": -3.321021722513251e-06,
                    "y": -2.3362110823654803e-06,
                    "z": 0.00109377212356776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.7316509485244751,
                "transform": {
                    "location": {
                        "x": -174.4977264404297,
                        "y": 4314.56982421875,
                        "z": 373.1012268066406
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.03542818874120712,
                        "yaw": -89.960693359375
                    }
                },
                "velocity": {
                    "x": -0.0008331795688718557,
                    "y": -0.7316489815711975,
                    "z": -0.001464948640204966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5206616303185e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.507949703722261e-06,
                    "y": 1.3415002797501074e-07,
                    "z": 3.4396489354548976e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016243368736468256,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00010894153092522174,
                        "pitch": 0.22204944491386414,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 1.074828196578892e-05,
                    "y": -6.932560154382372e-06,
                    "z": 0.00016192934708669782
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1941068172454834,
                "transform": {
                    "location": {
                        "x": -174.4835968017578,
                        "y": 4325.0859375,
                        "z": 373.1554870605469
                    },
                    "rotation": {
                        "roll": 0.0001207356181112118,
                        "pitch": 0.03600192442536354,
                        "yaw": -90.16838073730469
                    }
                },
                "velocity": {
                    "x": -0.003086819313466549,
                    "y": -2.194103717803955,
                    "z": -0.0020852850284427404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.004948616027832,
                "transform": {
                    "location": {
                        "x": -127.05538940429688,
                        "y": 4295.01708984375,
                        "z": 372.9090270996094
                    },
                    "rotation": {
                        "roll": -0.0003662109957076609,
                        "pitch": 0.2432776689529419,
                        "yaw": 179.68038940429688
                    }
                },
                "velocity": {
                    "x": -2.00490140914917,
                    "y": 0.011782119981944561,
                    "z": 0.007111787796020508
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002560298307798803,
                "transform": {
                    "location": {
                        "x": -202.3145294189453,
                        "y": 4298.896484375,
                        "z": 373.2181701660156
                    },
                    "rotation": {
                        "roll": -0.0022888181265443563,
                        "pitch": -0.24408362805843353,
                        "yaw": -0.173187255859375
                    }
                },
                "velocity": {
                    "x": -0.00017099974502343684,
                    "y": -2.3198401322588325e-05,
                    "z": -0.00018913538951892406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00016820133896544576,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.1652526855469
                    },
                    "rotation": {
                        "roll": 0.00043341497075743973,
                        "pitch": -0.21621645987033844,
                        "yaw": -0.5643920302391052
                    }
                },
                "velocity": {
                    "x": -6.431192105083028e-06,
                    "y": -4.0720882680034265e-05,
                    "z": -0.00016307095938827842
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006648593698628247,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 6.954185664653778e-06,
                    "y": -2.1208928956184536e-05,
                    "z": 0.0006644846289418638
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001661686401348561,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.96282958984375
                    },
                    "rotation": {
                        "roll": 0.0006688162684440613,
                        "pitch": 0.21206369996070862,
                        "yaw": 179.95965576171875
                    }
                },
                "velocity": {
                    "x": 1.444648933102144e-05,
                    "y": 0.00015268872084561735,
                    "z": -6.394897354766726e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39726004004478455,
        "expert_target_speed": 0.0,
        "target_point": [
            25.990375662522936,
            0.27358856976119544
        ],
        "target_point_next": [
            36.99018273501302,
            0.21173591737657743
        ]
    },
    "590": {
        "acceleration": [
            0.1922687590122223,
            -0.0026458310894668102,
            -0.0014043808914721012
        ],
        "angular_velocity": [
            0.011712332256138325,
            -0.024285050109028816,
            0.008839938789606094
        ],
        "forward_vector": [
            -0.9999939799308777,
            0.0003542004560586065,
            0.003449313808232546
        ],
        "right_vector": [
            -0.0003541639889590442,
            -0.9999999403953552,
            1.118521140597295e-05
        ],
        "location": [
            -160.33663940429688,
            4292.48291015625,
            373.0343017578125
        ],
        "rotation": [
            -0.0006408691988326609,
            0.19763150811195374,
            179.97970581054688
        ],
        "velocity": [
            -0.0028583717066794634,
            -1.0857581401069183e-05,
            0.0017302512424066663
        ],
        "speed": 0.002858392327973812,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.18658447265625,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0285004464094527e-05,
                -7.38924336474156e-06,
                0.0008400319493375719
            ],
            "speed_kmh": 0.0030244586612356026,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -226.4667205810547,
                        "y": 4302.20556640625,
                        "z": 373.62225341796875
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.682316780090332,
                "transform": {
                    "location": {
                        "x": -215.69046020507812,
                        "y": 4298.9599609375,
                        "z": 373.23492431640625
                    },
                    "rotation": {
                        "roll": 0.013871274888515472,
                        "pitch": -0.31890833377838135,
                        "yaw": -0.266082763671875
                    }
                },
                "velocity": {
                    "x": 6.6822509765625,
                    "y": -0.013132570311427116,
                    "z": -0.026545366272330284
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.47242510318756104,
                "transform": {
                    "location": {
                        "x": -174.49546813964844,
                        "y": 4338.1572265625,
                        "z": 373.1242980957031
                    },
                    "rotation": {
                        "roll": 0.0030082259327173233,
                        "pitch": -0.7361372709274292,
                        "yaw": -90.01353454589844
                    }
                },
                "velocity": {
                    "x": 0.0030764106195420027,
                    "y": -0.47241446375846863,
                    "z": -0.0007702159928157926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9293023943901062,
                "transform": {
                    "location": {
                        "x": -211.20335388183594,
                        "y": 4302.19384765625,
                        "z": 373.2540588378906
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": -0.5616805553436279,
                        "yaw": -0.00033569333027116954
                    }
                },
                "velocity": {
                    "x": 0.9292941093444824,
                    "y": -0.001642733346670866,
                    "z": -0.0035668276250362396
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.733489990234375,
                "transform": {
                    "location": {
                        "x": -98.5672607421875,
                        "y": 4294.884765625,
                        "z": 372.7990417480469
                    },
                    "rotation": {
                        "roll": 0.018727276474237442,
                        "pitch": -0.32070469856262207,
                        "yaw": -179.73243713378906
                    }
                },
                "velocity": {
                    "x": -4.733462333679199,
                    "y": 0.007791466079652309,
                    "z": 0.014212636277079582
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4017969071865082,
                "transform": {
                    "location": {
                        "x": -112.90030670166016,
                        "y": 4294.93603515625,
                        "z": 372.8959655761719
                    },
                    "rotation": {
                        "roll": -0.0016174318734556437,
                        "pitch": -0.16491490602493286,
                        "yaw": 179.82713317871094
                    }
                },
                "velocity": {
                    "x": -0.40178588032722473,
                    "y": 0.0020629405044019222,
                    "z": 0.002144880359992385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010431939736008644,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2813415229320526
                    }
                },
                "velocity": {
                    "x": 5.757957751484355e-06,
                    "y": 1.0183602171309758e-05,
                    "z": 0.001043128315359354
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00038349401438608766,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 2.33106311497977e-06,
                    "y": -1.5829386939003598e-06,
                    "z": 0.00038348365342244506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1566447019577026,
                "transform": {
                    "location": {
                        "x": -174.49664306640625,
                        "y": 4314.31103515625,
                        "z": 373.1012878417969
                    },
                    "rotation": {
                        "roll": -0.0016174294287338853,
                        "pitch": -0.04046886786818504,
                        "yaw": -90.02133178710938
                    }
                },
                "velocity": {
                    "x": 0.009068829007446766,
                    "y": -1.1566078662872314,
                    "z": -0.0017033003969118
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00084012740990147,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0285004464094527e-05,
                    "y": -7.38924336474156e-06,
                    "z": 0.0008400319493375719
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004331882519181818,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00010894153092522174,
                        "pitch": 0.22204944491386414,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 1.4807172192377038e-05,
                    "y": -1.3325610552783473e-06,
                    "z": 0.00043293306953273714
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014833001187071204,
                "transform": {
                    "location": {
                        "x": -174.48374938964844,
                        "y": 4324.88134765625,
                        "z": 373.1575012207031
                    },
                    "rotation": {
                        "roll": 0.00014414190081879497,
                        "pitch": -0.20150423049926758,
                        "yaw": -90.147705078125
                    }
                },
                "velocity": {
                    "x": 0.00010387919610366225,
                    "y": 0.0005359610076993704,
                    "z": -0.001379178836941719
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6862190961837769,
                "transform": {
                    "location": {
                        "x": -127.53569793701172,
                        "y": 4295.02001953125,
                        "z": 372.9110107421875
                    },
                    "rotation": {
                        "roll": 0.0003323557320982218,
                        "pitch": 0.2229510247707367,
                        "yaw": 179.67831420898438
                    }
                },
                "velocity": {
                    "x": -1.686180591583252,
                    "y": 0.00955837033689022,
                    "z": 0.006194114685058594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000694634800311178,
                "transform": {
                    "location": {
                        "x": -202.3143768310547,
                        "y": 4298.896484375,
                        "z": 373.21795654296875
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": -0.22299200296401978,
                        "yaw": -0.1731872409582138
                    }
                },
                "velocity": {
                    "x": -4.8255547881126404e-05,
                    "y": -9.162481546809431e-06,
                    "z": 0.0006928960792720318
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007783359033055604,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": -1.8086284114815498e-07,
                    "y": 6.0423249124141876e-06,
                    "z": 0.0007783123874105513
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00101163936778903,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.6999132640194148e-05,
                    "y": 1.9918303223676048e-05,
                    "z": 0.00101130036637187
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006726989522576332,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.96282958984375
                    },
                    "rotation": {
                        "roll": 0.0006688162684440613,
                        "pitch": 0.21206369996070862,
                        "yaw": 179.95965576171875
                    }
                },
                "velocity": {
                    "x": 1.1399537470424548e-05,
                    "y": -6.145879160612822e-05,
                    "z": 0.0006697885692119598
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39697086811065674,
        "expert_target_speed": 0.0,
        "target_point": [
            25.988338405635723,
            0.274331442250477
        ],
        "target_point_next": [
            36.988147243242466,
            0.21279349689584445
        ]
    },
    "595": {
        "acceleration": [
            -0.2496151328086853,
            0.005131246987730265,
            -0.0011711125262081623
        ],
        "angular_velocity": [
            0.020811777561903,
            0.048015400767326355,
            0.03009468875825405
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.0003441868757363409,
            0.003516070544719696
        ],
        "right_vector": [
            -0.0003442312590777874,
            -0.9999999403953552,
            -1.2021125257888343e-05
        ],
        "location": [
            -160.339599609375,
            4292.48291015625,
            373.0343322753906
        ],
        "rotation": [
            0.0006887640338391066,
            0.20145641267299652,
            179.98028564453125
        ],
        "velocity": [
            -0.017832940444350243,
            3.853164889733307e-05,
            0.0015311908209696412
        ],
        "speed": 0.017832982071984187,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.183624267578125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.990374797373079e-06,
                -2.1080136320961174e-06,
                0.00027644619694910944
            ],
            "speed_kmh": 0.0009956508592151056,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9811248779296875,
                "transform": {
                    "location": {
                        "x": -226.4676513671875,
                        "y": 4302.20556640625,
                        "z": 373.2260437011719
                    },
                    "rotation": {
                        "roll": -0.0003356932138558477,
                        "pitch": -0.22375698387622833,
                        "yaw": -0.3386841118335724
                    }
                },
                "velocity": {
                    "x": -0.0037535978481173515,
                    "y": -0.00011175458348589018,
                    "z": -0.9811176657676697
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1555764079093933,
                "transform": {
                    "location": {
                        "x": -214.8946075439453,
                        "y": 4298.96044921875,
                        "z": 373.2313232421875
                    },
                    "rotation": {
                        "roll": 0.02965296432375908,
                        "pitch": -1.2527453899383545,
                        "yaw": -0.5622862577438354
                    }
                },
                "velocity": {
                    "x": 0.15555554628372192,
                    "y": 0.0023258631117641926,
                    "z": -0.0010398769518360496
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3387436866760254,
                "transform": {
                    "location": {
                        "x": -174.49539184570312,
                        "y": 4337.984375,
                        "z": 373.12506103515625
                    },
                    "rotation": {
                        "roll": 0.0017653548857197165,
                        "pitch": -0.13046343624591827,
                        "yaw": -89.98651123046875
                    }
                },
                "velocity": {
                    "x": -0.00046481186291202903,
                    "y": -1.338742971420288,
                    "z": 0.001252136193215847
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5878034830093384,
                "transform": {
                    "location": {
                        "x": -210.99148559570312,
                        "y": 4302.19287109375,
                        "z": 373.2508544921875
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.2769778072834015,
                        "yaw": 0.04083637893199921
                    }
                },
                "velocity": {
                    "x": 1.5877844095230103,
                    "y": -0.00382126122713089,
                    "z": -0.006790113169699907
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.006963549181818962,
                "transform": {
                    "location": {
                        "x": -98.95734405517578,
                        "y": 4294.888671875,
                        "z": 372.8046875
                    },
                    "rotation": {
                        "roll": -0.0333862230181694,
                        "pitch": -1.477137565612793,
                        "yaw": -179.47679138183594
                    }
                },
                "velocity": {
                    "x": 0.006888928823173046,
                    "y": 0.0002352300944039598,
                    "z": -0.0009891123045235872
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4648553133010864,
                "transform": {
                    "location": {
                        "x": -113.16890716552734,
                        "y": 4294.9375,
                        "z": 372.89373779296875
                    },
                    "rotation": {
                        "roll": 0.0007361802272498608,
                        "pitch": 0.22370918095111847,
                        "yaw": 179.79515075683594
                    }
                },
                "velocity": {
                    "x": -1.4648170471191406,
                    "y": 0.008164742961525917,
                    "z": 0.006727466359734535
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013844268687535077,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2813415229320526
                    }
                },
                "velocity": {
                    "x": 8.728056855034083e-06,
                    "y": -1.2401857929944526e-05,
                    "z": 0.00013760956062469631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011759508633986115,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 3.4807994779839646e-06,
                    "y": 8.110709131869953e-06,
                    "z": 0.0011759176850318909
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.908798336982727,
                "transform": {
                    "location": {
                        "x": -174.49757385253906,
                        "y": 4313.96044921875,
                        "z": 373.1006164550781
                    },
                    "rotation": {
                        "roll": 0.01359725371003151,
                        "pitch": -0.02615279331803322,
                        "yaw": -90.21874237060547
                    }
                },
                "velocity": {
                    "x": -0.08913370966911316,
                    "y": -1.9067147970199585,
                    "z": -0.002253837650641799
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00027656968450173736,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.990374797373079e-06,
                    "y": -2.1080136320961174e-06,
                    "z": 0.00027644619694910944
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013410969404503703,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00010894153092522174,
                        "pitch": 0.22204944491386414,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 1.6862004486029036e-05,
                    "y": -2.66284459939925e-05,
                    "z": 0.00013035339361522347
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0108227729797363,
                "transform": {
                    "location": {
                        "x": -174.48382568359375,
                        "y": 4324.74267578125,
                        "z": 373.1556701660156
                    },
                    "rotation": {
                        "roll": -3.0517821869580075e-05,
                        "pitch": -0.007294641807675362,
                        "yaw": -90.14034271240234
                    }
                },
                "velocity": {
                    "x": -0.0015157538000494242,
                    "y": -1.010820746421814,
                    "z": -0.0013548468705266714
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.054067850112915,
                "transform": {
                    "location": {
                        "x": -128.01467895507812,
                        "y": 4295.02197265625,
                        "z": 372.9128723144531
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.2300407588481903,
                        "yaw": 179.6768035888672
                    }
                },
                "velocity": {
                    "x": -2.0540220737457275,
                    "y": 0.011612428352236748,
                    "z": 0.00730552664026618
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001001487544272095,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2179260253906
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": -0.21588177978992462,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": -6.583183676411863e-06,
                    "y": -5.47217350685969e-05,
                    "z": -8.361797517864034e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010610538301989436,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 2.977959638883476e-06,
                    "y": -1.7956432202481665e-05,
                    "z": 0.0010608977172523737
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015604622894898057,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 8.826330486044753e-06,
                    "y": -1.384260303893825e-05,
                    "z": 0.0015603759093210101
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001471648138249293,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 7.439330147462897e-06,
                    "y": 5.752037282036326e-07,
                    "z": -0.00014697553706355393
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3944021761417389,
        "expert_target_speed": 0.0,
        "target_point": [
            25.985380946469512,
            0.27407018824068524
        ],
        "target_point_next": [
            36.98518916730961,
            0.21242209541981485
        ]
    },
    "600": {
        "acceleration": [
            0.20497070252895355,
            0.0016856067813932896,
            0.007002067286521196
        ],
        "angular_velocity": [
            0.0010135628981515765,
            -0.03788501396775246,
            0.007763076573610306
        ],
        "forward_vector": [
            -0.9999938011169434,
            0.00035920715890824795,
            0.0034996196627616882
        ],
        "right_vector": [
            -0.00035935157211497426,
            -0.9999999403953552,
            -4.063553569721989e-05
        ],
        "location": [
            -160.3418731689453,
            4292.48291015625,
            373.0343322753906
        ],
        "rotation": [
            0.0023282591719180346,
            0.20051385462284088,
            179.9794158935547
        ],
        "velocity": [
            -0.002672058530151844,
            -4.163890844210982e-05,
            0.0015853213844820857
        ],
        "speed": 0.0026723829417307473,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.18135070800781,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4445483429881278e-05,
                -1.312835684075253e-05,
                0.0013290788047015667
            ],
            "speed_kmh": 0.00478519970045968,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3724251091480255,
                "transform": {
                    "location": {
                        "x": -226.4676513671875,
                        "y": 4302.20556640625,
                        "z": 373.2009582519531
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": -0.2245219647884369,
                        "yaw": -0.338714599609375
                    }
                },
                "velocity": {
                    "x": 0.0014371613506227732,
                    "y": 6.43980602035299e-05,
                    "z": 0.37242233753204346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4107699394226074,
                "transform": {
                    "location": {
                        "x": -214.71975708007812,
                        "y": 4298.95947265625,
                        "z": 373.2309265136719
                    },
                    "rotation": {
                        "roll": 0.00811054278165102,
                        "pitch": -0.3593772053718567,
                        "yaw": -0.5313720107078552
                    }
                },
                "velocity": {
                    "x": 1.4107552766799927,
                    "y": -0.004889128729701042,
                    "z": -0.004153451882302761
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.278212070465088,
                "transform": {
                    "location": {
                        "x": -174.49554443359375,
                        "y": 4337.5302734375,
                        "z": 373.1253967285156
                    },
                    "rotation": {
                        "roll": 0.0007729096105322242,
                        "pitch": 0.09448882937431335,
                        "yaw": -90.08719635009766
                    }
                },
                "velocity": {
                    "x": 0.00035872356966137886,
                    "y": -2.278211832046509,
                    "z": 0.001039533643051982
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2398734092712402,
                "transform": {
                    "location": {
                        "x": -210.46522521972656,
                        "y": 4302.19091796875,
                        "z": 373.2479248046875
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.1641499251127243,
                        "yaw": 0.0002914129290729761
                    }
                },
                "velocity": {
                    "x": 2.2398438453674316,
                    "y": -0.006125105544924736,
                    "z": -0.009731139987707138
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.009886901825666428,
                "transform": {
                    "location": {
                        "x": -98.96351623535156,
                        "y": 4294.888671875,
                        "z": 372.8011169433594
                    },
                    "rotation": {
                        "roll": -0.015533448196947575,
                        "pitch": -0.5343051552772522,
                        "yaw": -179.47647094726562
                    }
                },
                "velocity": {
                    "x": 0.009700184687972069,
                    "y": -7.787268259562552e-05,
                    "z": 0.0019108070991933346
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.476215124130249,
                "transform": {
                    "location": {
                        "x": -113.66093444824219,
                        "y": 4294.93994140625,
                        "z": 372.8948669433594
                    },
                    "rotation": {
                        "roll": 0.001211010036058724,
                        "pitch": 0.31262457370758057,
                        "yaw": 179.76536560058594
                    }
                },
                "velocity": {
                    "x": -2.4761557579040527,
                    "y": 0.01377616636455059,
                    "z": 0.010219678282737732
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011219388106837869,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2813415229320526
                    }
                },
                "velocity": {
                    "x": 1.178260845335899e-05,
                    "y": -1.3922462130722124e-05,
                    "z": 0.0011217906139791012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003725266724359244,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": -6.903931534907315e-06,
                    "y": 2.5069317416637205e-05,
                    "z": 0.0003716180508490652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4093339443206787,
                "transform": {
                    "location": {
                        "x": -174.52499389648438,
                        "y": 4313.2919921875,
                        "z": 373.0994567871094
                    },
                    "rotation": {
                        "roll": 0.017045380547642708,
                        "pitch": 0.01441169809550047,
                        "yaw": -91.1314697265625
                    }
                },
                "velocity": {
                    "x": -0.18612167239189148,
                    "y": -3.4042482376098633,
                    "z": -0.0032005596440285444
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013292222283780575,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4445483429881278e-05,
                    "y": -1.312835684075253e-05,
                    "z": 0.0013290788047015667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000414407579228282,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00033332043676637113,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": 8.114800039038528e-06,
                    "y": -9.701014278107323e-06,
                    "z": 0.00041421453352086246
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.719034194946289,
                "transform": {
                    "location": {
                        "x": -174.48390197753906,
                        "y": 4324.4013671875,
                        "z": 373.1551513671875
                    },
                    "rotation": {
                        "roll": 0.00017276745347771794,
                        "pitch": 0.02807890623807907,
                        "yaw": -90.13322448730469
                    }
                },
                "velocity": {
                    "x": -0.0021943822503089905,
                    "y": -1.719030737876892,
                    "z": -0.0026215838734060526
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.781725525856018,
                "transform": {
                    "location": {
                        "x": -128.45741271972656,
                        "y": 4295.0244140625,
                        "z": 372.9146728515625
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": 0.22133226692676544,
                        "yaw": 179.67413330078125
                    }
                },
                "velocity": {
                    "x": -1.7816838026046753,
                    "y": 0.010702243074774742,
                    "z": 0.005837440490722656
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2179260253906
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": -0.21588177978992462,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.963365427101962e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.201395874290029e-06,
                    "y": 8.907687174541934e-07,
                    "z": 4.9100366595666856e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006782765267416835,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.176882506115362e-05,
                    "y": 2.1319225197657943e-05,
                    "z": 0.0006778392125852406
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00028809451032429934,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 7.445886694767978e-06,
                    "y": -7.951133738970384e-06,
                    "z": 0.0002878884843084961
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.396943062543869,
        "expert_target_speed": 0.0,
        "target_point": [
            25.983103202041463,
            0.27446587734184785
        ],
        "target_point_next": [
            36.98291236227627,
            0.21298562828151743
        ]
    },
    "605": {
        "acceleration": [
            -0.13746890425682068,
            -0.0007760236621834338,
            -0.002436258364468813
        ],
        "angular_velocity": [
            0.018465101718902588,
            0.032173432409763336,
            -0.02389136329293251
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00037422741297632456,
            0.003526560962200165
        ],
        "right_vector": [
            -0.00037430107477121055,
            -0.9999999403953552,
            -2.0225506887072697e-05
        ],
        "location": [
            -160.3445281982422,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0011588433990254998,
            0.20205748081207275,
            179.9785614013672
        ],
        "velocity": [
            -0.012836742214858532,
            0.00015576071746181697,
            0.0011734198778867722
        ],
        "speed": 0.012837687178453731,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17869567871094,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0446160558785778e-05,
                -3.550760311554768e-06,
                0.0005388332647271454
            ],
            "speed_kmh": 0.0019402063562416712,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.41543710231781006,
                "transform": {
                    "location": {
                        "x": -226.4392852783203,
                        "y": 4302.20556640625,
                        "z": 373.2838134765625
                    },
                    "rotation": {
                        "roll": -0.0020141603890806437,
                        "pitch": -0.17486649751663208,
                        "yaw": -0.3250121474266052
                    }
                },
                "velocity": {
                    "x": 0.3701823651790619,
                    "y": 0.0018193876603618264,
                    "z": 0.18854625523090363
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4737045764923096,
                "transform": {
                    "location": {
                        "x": -214.20468139648438,
                        "y": 4298.9580078125,
                        "z": 373.2290954589844
                    },
                    "rotation": {
                        "roll": -0.001312255859375,
                        "pitch": -0.06280358880758286,
                        "yaw": -0.3882751166820526
                    }
                },
                "velocity": {
                    "x": 2.4736738204956055,
                    "y": -0.007074430584907532,
                    "z": -0.010112904943525791
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005245113745331764,
                "transform": {
                    "location": {
                        "x": -174.49569702148438,
                        "y": 4337.11328125,
                        "z": 373.12493896484375
                    },
                    "rotation": {
                        "roll": 0.003801958402618766,
                        "pitch": -0.2566511631011963,
                        "yaw": -90.22837829589844
                    }
                },
                "velocity": {
                    "x": 0.0003631591680459678,
                    "y": -0.005068324040621519,
                    "z": 0.0013005478540435433
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011149606434628367,
                "transform": {
                    "location": {
                        "x": -210.3181915283203,
                        "y": 4302.1904296875,
                        "z": 373.2491455078125
                    },
                    "rotation": {
                        "roll": -0.004699706565588713,
                        "pitch": -0.37456756830215454,
                        "yaw": 0.07751867175102234
                    }
                },
                "velocity": {
                    "x": -0.0007564758998341858,
                    "y": 3.200490755261853e-05,
                    "z": 0.0008184479083865881
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0697795152664185,
                "transform": {
                    "location": {
                        "x": -99.07835388183594,
                        "y": 4294.888671875,
                        "z": 372.7989501953125
                    },
                    "rotation": {
                        "roll": 0.00515339057892561,
                        "pitch": 0.2412627637386322,
                        "yaw": -179.49339294433594
                    }
                },
                "velocity": {
                    "x": -1.069774866104126,
                    "y": 0.00018059030117001384,
                    "z": 0.0031443212646991014
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8301873207092285,
                "transform": {
                    "location": {
                        "x": -114.45335388183594,
                        "y": 4294.9443359375,
                        "z": 372.89764404296875
                    },
                    "rotation": {
                        "roll": 0.0009675988694652915,
                        "pitch": 0.3611052632331848,
                        "yaw": 179.7344970703125
                    }
                },
                "velocity": {
                    "x": -3.8300981521606445,
                    "y": 0.02173704095184803,
                    "z": 0.014533290639519691
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005344283999875188,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2813415229320526
                    }
                },
                "velocity": {
                    "x": 7.387995538010728e-06,
                    "y": 3.6971641748095863e-06,
                    "z": 0.0005343645461834967
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004917330224998295,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 1.3183653209125623e-05,
                    "y": 2.6662828531698324e-05,
                    "z": 0.0004908326081931591
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.413957118988037,
                "transform": {
                    "location": {
                        "x": -174.57069396972656,
                        "y": 4312.31396484375,
                        "z": 373.0982360839844
                    },
                    "rotation": {
                        "roll": 0.01087982952594757,
                        "pitch": 0.012007472105324268,
                        "yaw": -91.9945068359375
                    }
                },
                "velocity": {
                    "x": -0.23741690814495087,
                    "y": -4.40756368637085,
                    "z": -0.005900230258703232
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005389461875893176,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0446160558785778e-05,
                    "y": -3.550760311554768e-06,
                    "z": 0.0005388332647271454
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004263207083567977,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0009521928150206804,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": -6.744116490153829e-06,
                    "y": 5.060340299678501e-06,
                    "z": 0.00042623732588253915
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.209195137023926,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.87060546875,
                        "z": 373.1547546386719
                    },
                    "rotation": {
                        "roll": -0.0009460454457439482,
                        "pitch": 0.02091403864324093,
                        "yaw": -90.12169647216797
                    }
                },
                "velocity": {
                    "x": -0.002692753216251731,
                    "y": -2.2091925144195557,
                    "z": -0.0020488451700657606
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0022377967834473,
                "transform": {
                    "location": {
                        "x": -128.96812438964844,
                        "y": 4295.02734375,
                        "z": 372.91656494140625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": 0.22853811085224152,
                        "yaw": 179.67185974121094
                    }
                },
                "velocity": {
                    "x": -2.0021867752075195,
                    "y": 0.011986525729298592,
                    "z": 0.007781629450619221
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005517042591236532,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 1.6809254930194584e-06,
                    "y": -1.7609861970413476e-05,
                    "z": 0.0005514206131920218
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005906358710490167,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 6.331577878881944e-06,
                    "y": 1.9490245904307812e-05,
                    "z": 0.0005902802804484963
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004032392462249845,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 6.6281108956900425e-06,
                    "y": -1.4769864264962962e-06,
                    "z": 0.00040318205719813704
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39528563618659973,
        "expert_target_speed": 0.0,
        "target_point": [
            25.980444112949975,
            0.27484896576835466
        ],
        "target_point_next": [
            36.980254180781095,
            0.21353131536469833
        ]
    },
    "610": {
        "acceleration": [
            0.1936827003955841,
            -0.00276941922493279,
            -0.004549217410385609
        ],
        "angular_velocity": [
            -0.023287830874323845,
            -0.029136719182133675,
            0.004594497382640839
        ],
        "forward_vector": [
            -0.9999938011169434,
            0.00031605365802533925,
            0.0035118984524160624
        ],
        "right_vector": [
            -0.0003160818887408823,
            -0.9999999403953552,
            -7.484843536076369e-06
        ],
        "location": [
            -160.34600830078125,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0004288525669835508,
            0.20121736824512482,
            179.9818878173828
        ],
        "velocity": [
            -0.0030084329191595316,
            0.00011649695807136595,
            0.0009257697965949774
        ],
        "speed": 0.0030106876573837114,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.177215576171875,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0565532445907593,
                "transform": {
                    "location": {
                        "x": -226.24554443359375,
                        "y": 4302.20654296875,
                        "z": 373.2914733886719
                    },
                    "rotation": {
                        "roll": -0.0059814453125,
                        "pitch": -0.04706000164151192,
                        "yaw": -0.2820434272289276
                    }
                },
                "velocity": {
                    "x": 1.055049180984497,
                    "y": 0.0074690948240458965,
                    "z": -0.05585705116391182
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00044384298962540925,
                "transform": {
                    "location": {
                        "x": -213.8759307861328,
                        "y": 4298.95703125,
                        "z": 373.2276916503906
                    },
                    "rotation": {
                        "roll": 0.007826889865100384,
                        "pitch": -0.6054074168205261,
                        "yaw": -0.54412841796875
                    }
                },
                "velocity": {
                    "x": -0.00011399105278542265,
                    "y": 0.0004143511177971959,
                    "z": 0.00011097650713054463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.933932363986969,
                "transform": {
                    "location": {
                        "x": -174.49569702148438,
                        "y": 4336.99951171875,
                        "z": 373.12530517578125
                    },
                    "rotation": {
                        "roll": -6.103511987021193e-05,
                        "pitch": -0.001188452821224928,
                        "yaw": -90.2210464477539
                    }
                },
                "velocity": {
                    "x": -0.0005192460957914591,
                    "y": -0.9339320659637451,
                    "z": 0.0004802989715244621
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009887998457998037,
                "transform": {
                    "location": {
                        "x": -210.3173370361328,
                        "y": 4302.1904296875,
                        "z": 373.24810791015625
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": -0.25628232955932617,
                        "yaw": 0.0774824321269989
                    }
                },
                "velocity": {
                    "x": -0.0003100698231719434,
                    "y": 9.029256034409627e-05,
                    "z": 0.0009345743455924094
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.908287525177002,
                "transform": {
                    "location": {
                        "x": -99.45992279052734,
                        "y": 4294.888671875,
                        "z": 372.79937744140625
                    },
                    "rotation": {
                        "roll": 0.010220956057310104,
                        "pitch": 0.5267031788825989,
                        "yaw": -179.5368194580078
                    }
                },
                "velocity": {
                    "x": -1.9082762002944946,
                    "y": -0.0019000242464244366,
                    "z": 0.006290721707046032
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.135761737823486,
                "transform": {
                    "location": {
                        "x": -115.58179473876953,
                        "y": 4294.9501953125,
                        "z": 372.9021911621094
                    },
                    "rotation": {
                        "roll": 9.002924343803898e-05,
                        "pitch": 0.3703806400299072,
                        "yaw": 179.70803833007812
                    }
                },
                "velocity": {
                    "x": -5.135621070861816,
                    "y": 0.028969384729862213,
                    "z": 0.02463185228407383
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0014328835532069206,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2813415229320526
                    }
                },
                "velocity": {
                    "x": 1.0519660463614855e-05,
                    "y": -4.059806542500155e-06,
                    "z": 0.0014328391989693046
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001064409501850605,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": -1.2343562957539689e-05,
                    "y": 1.937570004884037e-06,
                    "z": 0.001064336160197854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6577634811401367,
                "transform": {
                    "location": {
                        "x": -174.6266326904297,
                        "y": 4311.21875,
                        "z": 373.09808349609375
                    },
                    "rotation": {
                        "roll": 0.0018962372560054064,
                        "pitch": -0.14455410838127136,
                        "yaw": -92.51721954345703
                    }
                },
                "velocity": {
                    "x": -0.14482460916042328,
                    "y": -2.6538097858428955,
                    "z": -0.00509675033390522
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005079630063846707,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0019507772522047162,
                        "pitch": 0.22195380926132202,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 9.417384717380628e-06,
                    "y": -1.526635855952918e-06,
                    "z": 0.0005078734247945249
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6868500709533691,
                "transform": {
                    "location": {
                        "x": -174.484130859375,
                        "y": 4323.6884765625,
                        "z": 373.1560974121094
                    },
                    "rotation": {
                        "roll": -0.0003967324737459421,
                        "pitch": -0.1424572467803955,
                        "yaw": -90.10745239257812
                    }
                },
                "velocity": {
                    "x": -0.000977887655608356,
                    "y": -0.6868460774421692,
                    "z": -0.002120132325217128
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3514650762081146,
                "transform": {
                    "location": {
                        "x": -129.11390686035156,
                        "y": 4295.02783203125,
                        "z": 372.91741943359375
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.1938612461090088,
                        "yaw": 179.66957092285156
                    }
                },
                "velocity": {
                    "x": -0.35144853591918945,
                    "y": 0.0028658669907599688,
                    "z": 0.001849050517193973
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00034352991497144103,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": -9.94808942778036e-06,
                    "y": 2.290628253831528e-05,
                    "z": -0.0003426209732424468
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00029993781936354935,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 5.330741259967908e-06,
                    "y": 1.9569688447518274e-05,
                    "z": -0.000299251260003075
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00146444549318403,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.0032541467808187e-05,
                    "y": 2.2178624931257218e-05,
                    "z": 0.0014642431633546948
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.887812327884603e-06,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 5.4085999181552324e-06,
                    "y": -6.788365681131836e-06,
                    "z": -1.912681682370021e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39836326241493225,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97897982528287,
            0.2733494960273504
        ],
        "target_point_next": [
            36.9787863369423,
            0.21139718642711297
        ]
    },
    "615": {
        "acceleration": [
            -0.21286310255527496,
            0.0014128453331068158,
            0.004781722091138363
        ],
        "angular_velocity": [
            0.018442247062921524,
            0.04525544494390488,
            0.010957174934446812
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00031486156512983143,
            0.00352274626493454
        ],
        "right_vector": [
            -0.00031484663486480713,
            -0.9999999403953552,
            4.793660536961397e-06
        ],
        "location": [
            -160.34780883789062,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            -0.000274658203125,
            0.2018389105796814,
            179.98196411132812
        ],
        "velocity": [
            -0.013270974159240723,
            0.00011105429439339787,
            0.0007376956637017429
        ],
        "speed": 0.013271438813916831,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.175418853759766,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.50581072375644e-05,
                -5.269260782370111e-06,
                0.0010476274183019996
            ],
            "speed_kmh": 0.0037718959744245666,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.244414806365967,
                "transform": {
                    "location": {
                        "x": -225.84420776367188,
                        "y": 4302.2080078125,
                        "z": 373.2757873535156
                    },
                    "rotation": {
                        "roll": -0.008087158203125,
                        "pitch": 0.018878642469644547,
                        "yaw": -0.1550598293542862
                    }
                },
                "velocity": {
                    "x": 2.243914842605591,
                    "y": 0.015464361757040024,
                    "z": -0.04477052763104439
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3943424224853516,
                "transform": {
                    "location": {
                        "x": -213.6778106689453,
                        "y": 4298.9560546875,
                        "z": 373.22705078125
                    },
                    "rotation": {
                        "roll": 0.0007970757433213294,
                        "pitch": -0.13928121328353882,
                        "yaw": -0.5129089951515198
                    }
                },
                "velocity": {
                    "x": 1.3943161964416504,
                    "y": -0.00758022116497159,
                    "z": -0.003962707240134478
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.970707893371582,
                "transform": {
                    "location": {
                        "x": -174.49562072753906,
                        "y": 4336.642578125,
                        "z": 373.1254577636719
                    },
                    "rotation": {
                        "roll": -0.000793457729741931,
                        "pitch": 0.12729422748088837,
                        "yaw": -90.18539428710938
                    }
                },
                "velocity": {
                    "x": -0.00026598203112371266,
                    "y": -1.9707077741622925,
                    "z": -0.0007209205650724471
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009785214206203818,
                "transform": {
                    "location": {
                        "x": -210.3171844482422,
                        "y": 4302.1904296875,
                        "z": 373.2478942871094
                    },
                    "rotation": {
                        "roll": -0.002716064453125,
                        "pitch": -0.23071694374084473,
                        "yaw": 0.07746688276529312
                    }
                },
                "velocity": {
                    "x": -8.830174920149148e-05,
                    "y": 9.268376015825197e-05,
                    "z": 0.0009701116941869259
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0020742416381836,
                "transform": {
                    "location": {
                        "x": -100.06648254394531,
                        "y": 4294.88818359375,
                        "z": 372.8013916015625
                    },
                    "rotation": {
                        "roll": 0.011437566950917244,
                        "pitch": 0.6437726020812988,
                        "yaw": -179.67544555664062
                    }
                },
                "velocity": {
                    "x": -3.0020532608032227,
                    "y": -0.0014070480829104781,
                    "z": 0.011139078065752983
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.249782562255859,
                "transform": {
                    "location": {
                        "x": -116.90625,
                        "y": 4294.95654296875,
                        "z": 372.90826416015625
                    },
                    "rotation": {
                        "roll": 0.0006543507915921509,
                        "pitch": 0.27917030453681946,
                        "yaw": 179.55357360839844
                    }
                },
                "velocity": {
                    "x": -5.249647617340088,
                    "y": 0.031445641070604324,
                    "z": 0.020766325294971466
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007867773529142141,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2813415229320526
                    }
                },
                "velocity": {
                    "x": 1.0260678209306207e-05,
                    "y": -5.609046183963073e-06,
                    "z": 0.0007866904488764703
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000598608166910708,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": -4.527494184003444e-06,
                    "y": -6.281970854615793e-05,
                    "z": 0.0005952855572104454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.681532621383667,
                "transform": {
                    "location": {
                        "x": -174.6632843017578,
                        "y": 4310.50634765625,
                        "z": 373.0964660644531
                    },
                    "rotation": {
                        "roll": 0.004695120733231306,
                        "pitch": -0.06543321162462234,
                        "yaw": -92.94318389892578
                    }
                },
                "velocity": {
                    "x": -0.20619696378707886,
                    "y": -3.6757490634918213,
                    "z": -0.005853233393281698
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001047748839482665,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.50581072375644e-05,
                    "y": -5.269260782370111e-06,
                    "z": 0.0010476274183019996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007550907321274281,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.001397909945808351,
                        "pitch": 0.22176940739154816,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 6.430074336094549e-06,
                    "y": 1.7277874576393515e-05,
                    "z": 0.0007548656431026757
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5036628246307373,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.39794921875,
                        "z": 373.1545715332031
                    },
                    "rotation": {
                        "roll": 0.0008841094677336514,
                        "pitch": 0.0064408681355416775,
                        "yaw": -90.11974334716797
                    }
                },
                "velocity": {
                    "x": -0.0020175676327198744,
                    "y": -1.5036606788635254,
                    "z": -0.0016402625478804111
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0463284254074097,
                "transform": {
                    "location": {
                        "x": -129.28695678710938,
                        "y": 4295.02978515625,
                        "z": 372.9178771972656
                    },
                    "rotation": {
                        "roll": 0.000580610241740942,
                        "pitch": 0.23506778478622437,
                        "yaw": 179.70870971679688
                    }
                },
                "velocity": {
                    "x": -1.0463134050369263,
                    "y": 0.004801235161721706,
                    "z": 0.0028837108984589577
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005611507222056389,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 1.5087090105225798e-05,
                    "y": -2.6250718292430975e-05,
                    "z": 0.0005603333120234311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00019436866568867117,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.1448114491940942e-05,
                    "y": 4.300559339753818e-07,
                    "z": 0.00019403075566515326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010984293185174465,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.2579075701069087e-05,
                    "y": -6.2336442852029e-07,
                    "z": 0.0010983571410179138
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00029208886553533375,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 9.128301826422103e-06,
                    "y": 5.254522079667368e-07,
                    "z": 0.00029194573289714754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3960472047328949,
        "expert_target_speed": 0.0,
        "target_point": [
            25.977179679265664,
            0.2733117661682336
        ],
        "target_point_next": [
            36.97698610229035,
            0.21134372121862613
        ]
    },
    "620": {
        "acceleration": [
            0.19993039965629578,
            0.00010596690117381513,
            -0.004929733462631702
        ],
        "angular_velocity": [
            -0.004983869381248951,
            -0.03505681827664375,
            0.023867182433605194
        ],
        "forward_vector": [
            -0.9999938607215881,
            0.000306040165014565,
            0.00348865264095366
        ],
        "right_vector": [
            -0.00030596955912187696,
            -0.9999999403953552,
            2.0772527932422236e-05
        ],
        "location": [
            -160.34906005859375,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            -0.0011901854304596782,
            0.19988547265529633,
            179.9824676513672
        ],
        "velocity": [
            0.0024131739046424627,
            0.00011064752470701933,
            0.00027166365180164576
        ],
        "speed": 0.002415709247565017,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17416763305664,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.951686140790116e-06,
                7.0627161221636925e-06,
                0.00032153783831745386
            ],
            "speed_kmh": 0.00115826382384708,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9430272579193115,
                "transform": {
                    "location": {
                        "x": -225.07093811035156,
                        "y": 4302.2119140625,
                        "z": 373.2691345214844
                    },
                    "rotation": {
                        "roll": -0.01202392578125,
                        "pitch": 0.1606733649969101,
                        "yaw": 0.028734933584928513
                    }
                },
                "velocity": {
                    "x": 3.942917585372925,
                    "y": 0.028095953166484833,
                    "z": -0.008597993291914463
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.349358558654785,
                "transform": {
                    "location": {
                        "x": -213.1871795654297,
                        "y": 4298.9541015625,
                        "z": 373.2253112792969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.03167841583490372,
                        "yaw": -0.4575500190258026
                    }
                },
                "velocity": {
                    "x": 2.3493127822875977,
                    "y": -0.01117678266018629,
                    "z": -0.009500894695520401
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0112223625183105,
                "transform": {
                    "location": {
                        "x": -174.49539184570312,
                        "y": 4336.09375,
                        "z": 373.1252746582031
                    },
                    "rotation": {
                        "roll": -0.0028991703875362873,
                        "pitch": 0.034287549555301666,
                        "yaw": -90.01467895507812
                    }
                },
                "velocity": {
                    "x": 0.0034325297456234694,
                    "y": -2.011218786239624,
                    "z": -0.001722373883239925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012051660451106727,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": -2.2579729375138413e-06,
                    "y": 4.409226312418468e-05,
                    "z": -0.00011213842662982643
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9212892055511475,
                "transform": {
                    "location": {
                        "x": -100.98171997070312,
                        "y": 4294.8876953125,
                        "z": 372.8048400878906
                    },
                    "rotation": {
                        "roll": 0.01116561982780695,
                        "pitch": 0.7027990818023682,
                        "yaw": -179.8170623779297
                    }
                },
                "velocity": {
                    "x": -3.9212605953216553,
                    "y": 0.0004650247865356505,
                    "z": 0.015004911459982395
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0243284702301025,
                "transform": {
                    "location": {
                        "x": -117.71405792236328,
                        "y": 4294.9619140625,
                        "z": 372.91436767578125
                    },
                    "rotation": {
                        "roll": 0.0012033969396725297,
                        "pitch": -0.09149038046598434,
                        "yaw": 179.5578155517578
                    }
                },
                "velocity": {
                    "x": -1.0243061780929565,
                    "y": 0.004993710201233625,
                    "z": 0.004547557793557644
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.172576442826539e-05,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2813415229320526
                    }
                },
                "velocity": {
                    "x": 4.017725586891174e-06,
                    "y": -1.7471696992288344e-05,
                    "z": 6.944913911866024e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012477374402806163,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": -1.5857442576816538e-06,
                    "y": 3.1532988941762596e-05,
                    "z": 0.0012473379028961062
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.643219470977783,
                "transform": {
                    "location": {
                        "x": -174.72007751464844,
                        "y": 4309.46533203125,
                        "z": 373.09466552734375
                    },
                    "rotation": {
                        "roll": 0.005707158707082272,
                        "pitch": -0.016330981627106667,
                        "yaw": -93.2530288696289
                    }
                },
                "velocity": {
                    "x": -0.26550424098968506,
                    "y": -4.635618209838867,
                    "z": -0.006270379759371281
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003217399644199759,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.951686140790116e-06,
                    "y": 7.0627161221636925e-06,
                    "z": 0.00032153783831745386
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.627263403264806e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -7.111951276783657e-07,
                    "y": 4.79651953355642e-06,
                    "z": 7.61183473514393e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.5325942039489746,
                "transform": {
                    "location": {
                        "x": -174.484130859375,
                        "y": 4322.89404296875,
                        "z": 373.1537780761719
                    },
                    "rotation": {
                        "roll": -3.0515748221660033e-05,
                        "pitch": 0.053241319954395294,
                        "yaw": -90.10552978515625
                    }
                },
                "velocity": {
                    "x": -0.0036520257126539946,
                    "y": -2.532590389251709,
                    "z": -0.0025282478891313076
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.877161979675293,
                "transform": {
                    "location": {
                        "x": -129.65249633789062,
                        "y": 4295.0322265625,
                        "z": 372.9192199707031
                    },
                    "rotation": {
                        "roll": 0.0002925932640209794,
                        "pitch": 0.24308641254901886,
                        "yaw": 179.7430419921875
                    }
                },
                "velocity": {
                    "x": -1.8771222829818726,
                    "y": 0.01064255554229021,
                    "z": 0.005984277464449406
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006807444151490927,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 7.10897120370646e-06,
                    "y": -1.197250730911037e-05,
                    "z": 0.0006806019810028374
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002551285142544657,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 9.77300078375265e-06,
                    "y": -1.567763501952868e-05,
                    "z": 0.0002544587478041649
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011353561421856284,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.4231353816285264e-05,
                    "y": 1.115045847654983e-06,
                    "z": 0.0011352663859724998
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00012060216249665245,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 9.593069080438e-06,
                    "y": 1.1742382412194274e-05,
                    "z": 0.00011964518489548936
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39748650789260864,
        "expert_target_speed": 0.0,
        "target_point": [
            25.975930803518015,
            0.27308841921592797
        ],
        "target_point_next": [
            36.97573669426152,
            0.2110259621727645
        ]
    },
    "625": {
        "acceleration": [
            -0.18128806352615356,
            0.0026872921735048294,
            0.005748748779296875
        ],
        "angular_velocity": [
            0.01668110117316246,
            0.032825060188770294,
            -0.0008376386249437928
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.000337272766046226,
            0.0035178586840629578
        ],
        "right_vector": [
            -0.00033730766153894365,
            -0.9999999403953552,
            -9.320085155195557e-06
        ],
        "location": [
            -160.35015869140625,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0005340048810467124,
            0.20155887305736542,
            179.98068237304688
        ],
        "velocity": [
            -0.009139426983892918,
            -8.093669021036476e-05,
            0.00048240661271847785
        ],
        "speed": 0.009139785355342444,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.173065185546875,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0522640877752565e-05,
                2.1826836018590257e-06,
                0.0011014977935701609
            ],
            "speed_kmh": 0.003965580779150779,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.33222770690918,
                "transform": {
                    "location": {
                        "x": -223.84671020507812,
                        "y": 4302.21923828125,
                        "z": 373.26666259765625
                    },
                    "rotation": {
                        "roll": -0.010375975631177425,
                        "pitch": 0.18102049827575684,
                        "yaw": 0.22186841070652008
                    }
                },
                "velocity": {
                    "x": 5.332058429718018,
                    "y": 0.040532078593969345,
                    "z": -0.012723426334559917
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.405667781829834,
                "transform": {
                    "location": {
                        "x": -212.93084716796875,
                        "y": 4298.953125,
                        "z": 373.22412109375
                    },
                    "rotation": {
                        "roll": 0.0035793136339634657,
                        "pitch": -0.5036308169364929,
                        "yaw": -0.4001464545726776
                    }
                },
                "velocity": {
                    "x": 0.40564972162246704,
                    "y": -0.0029578672256320715,
                    "z": -0.0024305246770381927
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5581916570663452,
                "transform": {
                    "location": {
                        "x": -174.49522399902344,
                        "y": 4335.943359375,
                        "z": 373.125
                    },
                    "rotation": {
                        "roll": -0.0014343374641612172,
                        "pitch": -0.14376181364059448,
                        "yaw": -89.94281005859375
                    }
                },
                "velocity": {
                    "x": 0.002098805271089077,
                    "y": -0.5581860542297363,
                    "z": -0.0013733386294916272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008895588107407093,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 5.838945526193129e-06,
                    "y": -4.0300728869624436e-05,
                    "z": 0.0008886262658052146
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.001708745956421,
                "transform": {
                    "location": {
                        "x": -101.83155822753906,
                        "y": 4294.88916015625,
                        "z": 372.81011962890625
                    },
                    "rotation": {
                        "roll": 0.010157807730138302,
                        "pitch": 0.1717860847711563,
                        "yaw": -179.95651245117188
                    }
                },
                "velocity": {
                    "x": -3.0016674995422363,
                    "y": 0.008754761889576912,
                    "z": 0.01311478577554226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0770851373672485,
                "transform": {
                    "location": {
                        "x": -117.82429504394531,
                        "y": 4294.96240234375,
                        "z": 372.9129943847656
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.13010826706886292,
                        "yaw": 179.55381774902344
                    }
                },
                "velocity": {
                    "x": -1.0770649909973145,
                    "y": 0.0056891911663115025,
                    "z": 0.003324537305161357
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012405759189277887,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2813415229320526
                    }
                },
                "velocity": {
                    "x": 9.032860361912753e-06,
                    "y": -3.861146922190528e-07,
                    "z": 0.0012405429733917117
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013359347358345985,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 2.5153160549962195e-06,
                    "y": 7.801129981999111e-07,
                    "z": 0.0013359321746975183
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.9363253116607666,
                "transform": {
                    "location": {
                        "x": -174.77273559570312,
                        "y": 4308.716796875,
                        "z": 373.094482421875
                    },
                    "rotation": {
                        "roll": 0.0420079305768013,
                        "pitch": -0.1270141899585724,
                        "yaw": -93.5848388671875
                    }
                },
                "velocity": {
                    "x": -0.4011790454387665,
                    "y": -2.9087884426116943,
                    "z": -0.003434953512623906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011015502968803048,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0522640877752565e-05,
                    "y": 2.1826836018590257e-06,
                    "z": 0.0011014977935701609
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9926330423913896e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 7.56368035581545e-06,
                    "y": -7.15781288818107e-06,
                    "z": 1.6988675270113163e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9027328491210938,
                "transform": {
                    "location": {
                        "x": -174.48545837402344,
                        "y": 4322.0888671875,
                        "z": 373.1528015136719
                    },
                    "rotation": {
                        "roll": -0.00021362377447076142,
                        "pitch": 0.09546554833650589,
                        "yaw": -90.0975341796875
                    }
                },
                "velocity": {
                    "x": -0.0068849180825054646,
                    "y": -3.9027254581451416,
                    "z": -0.0031819248106330633
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0442054271698,
                "transform": {
                    "location": {
                        "x": -130.18663024902344,
                        "y": 4295.03564453125,
                        "z": 372.9212341308594
                    },
                    "rotation": {
                        "roll": -0.00015258780331350863,
                        "pitch": 0.23441891372203827,
                        "yaw": 179.72146606445312
                    }
                },
                "velocity": {
                    "x": -2.0441505908966064,
                    "y": 0.012198458425700665,
                    "z": 0.00869652722030878
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011747169774025679,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 7.764361726003699e-06,
                    "y": 0.00010461953934282064,
                    "z": 0.0011700232280418277
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4411595657293219e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.345378435275052e-06,
                    "y": -2.912235572694044e-07,
                    "z": 1.2395753401506227e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012278137728571892,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": -2.737864861046546e-06,
                    "y": -2.1058216589153744e-05,
                    "z": 0.0012276300694793463
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00044582627015188336,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 5.925372079218505e-06,
                    "y": -5.724874881707365e-06,
                    "z": 0.00044575013453140855
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3955581486225128,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97482369407513,
            0.27389315750908105
        ],
        "target_point_next": [
            36.974631503124705,
            0.21217163304748557
        ]
    },
    "630": {
        "acceleration": [
            0.2276672124862671,
            -0.002084499690681696,
            -0.0069807046093046665
        ],
        "angular_velocity": [
            -0.0027353677432984114,
            -0.049214836210012436,
            0.00030981560121290386
        ],
        "forward_vector": [
            -0.9999938011169434,
            0.0002864899579435587,
            0.0035071298480033875
        ],
        "right_vector": [
            -0.00028654004563577473,
            -0.9999999403953552,
            -1.378686101816129e-05
        ],
        "location": [
            -160.35108947753906,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0007899337797425687,
            0.20094415545463562,
            179.98358154296875
        ],
        "velocity": [
            0.002375922631472349,
            1.533944123366382e-05,
            0.0002944183361250907
        ],
        "speed": 0.0023759721482374016,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17213821411133,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.373575267090928e-06,
                -3.668245199150988e-06,
                0.0005140184657648206
            ],
            "speed_kmh": 0.0018508212468956052,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7932031154632568,
                "transform": {
                    "location": {
                        "x": -222.77882385253906,
                        "y": 4302.21630859375,
                        "z": 373.2702941894531
                    },
                    "rotation": {
                        "roll": 0.003928503021597862,
                        "pitch": -0.7325104475021362,
                        "yaw": 0.8294850587844849
                    }
                },
                "velocity": {
                    "x": 1.7930793762207031,
                    "y": -0.01893196627497673,
                    "z": -0.00925531331449747
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.01839202083647251,
                "transform": {
                    "location": {
                        "x": -212.7110137939453,
                        "y": 4298.95263671875,
                        "z": 373.223388671875
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": -0.32088908553123474,
                        "yaw": -0.2621459662914276
                    }
                },
                "velocity": {
                    "x": 0.018388327211141586,
                    "y": 0.00031966075766831636,
                    "z": 0.00018344580894336104
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5611768960952759,
                "transform": {
                    "location": {
                        "x": -174.49522399902344,
                        "y": 4335.6806640625,
                        "z": 373.1252746582031
                    },
                    "rotation": {
                        "roll": 4.176491347607225e-05,
                        "pitch": 0.08207155019044876,
                        "yaw": -89.93115234375
                    }
                },
                "velocity": {
                    "x": 0.0026261103339493275,
                    "y": -1.5611746311187744,
                    "z": -0.0005892944172956049
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00042514671804383397,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 9.388588296133094e-06,
                    "y": 2.627076901262626e-05,
                    "z": 0.0004242303839419037
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3182921409606934,
                "transform": {
                    "location": {
                        "x": -102.58968353271484,
                        "y": 4294.890625,
                        "z": 372.81304931640625
                    },
                    "rotation": {
                        "roll": 0.005684185307472944,
                        "pitch": 0.23339438438415527,
                        "yaw": 179.95867919921875
                    }
                },
                "velocity": {
                    "x": -3.318243980407715,
                    "y": 0.010665667243301868,
                    "z": 0.014336194843053818
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9192839860916138,
                "transform": {
                    "location": {
                        "x": -118.20858764648438,
                        "y": 4294.96484375,
                        "z": 372.91314697265625
                    },
                    "rotation": {
                        "roll": -0.0006103513878770173,
                        "pitch": 0.2872640788555145,
                        "yaw": 179.5715789794922
                    }
                },
                "velocity": {
                    "x": -1.919237494468689,
                    "y": 0.01190368551760912,
                    "z": 0.006065120454877615
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007673601503483951,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2813415229320526
                    }
                },
                "velocity": {
                    "x": 5.722530204366194e-06,
                    "y": -4.341990461398382e-06,
                    "z": 0.0007673265063203871
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010448398534208536,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 3.2903291867114604e-05,
                    "y": -6.695420597679913e-05,
                    "z": 0.001042173127643764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.010015964508057,
                "transform": {
                    "location": {
                        "x": -174.88905334472656,
                        "y": 4307.83154296875,
                        "z": 373.0925598144531
                    },
                    "rotation": {
                        "roll": 0.03758247196674347,
                        "pitch": -0.03167841583490372,
                        "yaw": -95.89696502685547
                    }
                },
                "velocity": {
                    "x": -0.6098753809928894,
                    "y": -3.963364362716675,
                    "z": -0.004896602593362331
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005141170113347471,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.373575267090928e-06,
                    "y": -3.668245199150988e-06,
                    "z": 0.0005140184657648206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00036823280970565975,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 1.9385739506105892e-05,
                    "y": 2.046925510512665e-05,
                    "z": 0.0003671520098578185
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.205931186676025,
                "transform": {
                    "location": {
                        "x": -174.48741149902344,
                        "y": 4320.94287109375,
                        "z": 373.1519775390625
                    },
                    "rotation": {
                        "roll": -0.00018311133317183703,
                        "pitch": 0.09574558585882187,
                        "yaw": -90.09625244140625
                    }
                },
                "velocity": {
                    "x": -0.007165260147303343,
                    "y": -5.205926418304443,
                    "z": 0.0004059505299665034
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3640950918197632,
                "transform": {
                    "location": {
                        "x": -130.36273193359375,
                        "y": 4295.0361328125,
                        "z": 372.92242431640625
                    },
                    "rotation": {
                        "roll": 0.0002542085130698979,
                        "pitch": 0.19202393293380737,
                        "yaw": 179.72386169433594
                    }
                },
                "velocity": {
                    "x": -0.3640805780887604,
                    "y": 0.0020459117367863655,
                    "z": 0.002526788739487529
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007583732367493212,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 1.0939910680463072e-05,
                    "y": 5.111613791086711e-05,
                    "z": 0.0007565694977529347
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00040139193879440427,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.0199210919381585e-05,
                    "y": -6.792202839278616e-06,
                    "z": 0.0004012048593722284
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012572634732350707,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.5451907529495656e-05,
                    "y": 7.837289558665361e-06,
                    "z": 0.001257144147530198
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006856818217784166,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 1.3034939911449328e-05,
                    "y": -1.2619672816072125e-05,
                    "z": 0.0006854417733848095
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3996635377407074,
        "expert_target_speed": 0.0,
        "target_point": [
            25.973906848632087,
            0.2725676144248942
        ],
        "target_point_next": [
            36.97371149423486,
            0.21028486251455913
        ]
    },
    "635": {
        "acceleration": [
            -0.15408065915107727,
            0.0030019874684512615,
            0.008957672864198685
        ],
        "angular_velocity": [
            0.009035538882017136,
            0.029018020257353783,
            -0.007839880883693695
        ],
        "forward_vector": [
            -0.9999938011169434,
            0.0002912583004217595,
            0.003508322173729539
        ],
        "right_vector": [
            -0.0002913414209615439,
            -0.9999999403953552,
            -2.3184529709396884e-05
        ],
        "location": [
            -160.35211181640625,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.00132838380523026,
            0.20101246237754822,
            179.98330688476562
        ],
        "velocity": [
            -0.006319804582744837,
            1.886741301859729e-05,
            0.0006310463068075478
        ],
        "speed": 0.006319832746470167,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.171112060546875,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4877691683068406e-05,
                5.5747245824022684e-06,
                0.0013364959741011262
            ],
            "speed_kmh": 0.00481172545977017,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6661859154701233,
                "transform": {
                    "location": {
                        "x": -222.65249633789062,
                        "y": 4302.21435546875,
                        "z": 373.27069091796875
                    },
                    "rotation": {
                        "roll": -0.02420043759047985,
                        "pitch": -0.9151291847229004,
                        "yaw": 0.9081292152404785
                    }
                },
                "velocity": {
                    "x": 0.6661761403083801,
                    "y": 0.002054440090432763,
                    "z": -0.0029689979273825884
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0022020824253559113,
                "transform": {
                    "location": {
                        "x": -212.7106170654297,
                        "y": 4298.95263671875,
                        "z": 373.223388671875
                    },
                    "rotation": {
                        "roll": 0.0002690908149816096,
                        "pitch": -0.30670279264450073,
                        "yaw": -0.262176513671875
                    }
                },
                "velocity": {
                    "x": -0.0016020850744098425,
                    "y": 3.9249272958841175e-05,
                    "z": -0.0015102812321856618
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5865962505340576,
                "transform": {
                    "location": {
                        "x": -174.49452209472656,
                        "y": 4335.15478515625,
                        "z": 373.12530517578125
                    },
                    "rotation": {
                        "roll": 0.0004386207729112357,
                        "pitch": 0.13716384768486023,
                        "yaw": -89.94791412353516
                    }
                },
                "velocity": {
                    "x": 0.004424650687724352,
                    "y": -2.586591958999634,
                    "z": -0.0015158557798713446
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001667073112912476,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 2.0648911231546663e-05,
                    "y": -5.362202864489518e-05,
                    "z": 0.0016660825349390507
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4334025382995605,
                "transform": {
                    "location": {
                        "x": -103.44929504394531,
                        "y": 4294.89306640625,
                        "z": 372.8162841796875
                    },
                    "rotation": {
                        "roll": 0.00432668998837471,
                        "pitch": 0.29234573245048523,
                        "yaw": 179.89321899414062
                    }
                },
                "velocity": {
                    "x": -3.4333531856536865,
                    "y": 0.012079163454473019,
                    "z": 0.013899554498493671
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6480554342269897,
                "transform": {
                    "location": {
                        "x": -118.7547607421875,
                        "y": 4294.96875,
                        "z": 372.9156188964844
                    },
                    "rotation": {
                        "roll": -0.00015258791972883046,
                        "pitch": 0.24313423037528992,
                        "yaw": 179.60263061523438
                    }
                },
                "velocity": {
                    "x": -1.64801025390625,
                    "y": 0.009806511923670769,
                    "z": 0.007278194185346365
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015349576715379953,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2813415229320526
                    }
                },
                "velocity": {
                    "x": 1.0956823643937241e-05,
                    "y": 1.8648677723831497e-05,
                    "z": 0.001534805167466402
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013043180806562304,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 2.4169794414774515e-05,
                    "y": 4.6082393964752555e-05,
                    "z": 0.0013032796559855342
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.222881317138672,
                "transform": {
                    "location": {
                        "x": -175.0617218017578,
                        "y": 4306.66357421875,
                        "z": 373.0907287597656
                    },
                    "rotation": {
                        "roll": 0.02846660651266575,
                        "pitch": -0.006987283006310463,
                        "yaw": -97.52600860595703
                    }
                },
                "velocity": {
                    "x": -0.8349226117134094,
                    "y": -5.155710220336914,
                    "z": -0.00656096450984478
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013365903869271278,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4877691683068406e-05,
                    "y": 5.5747245824022684e-06,
                    "z": 0.0013364959741011262
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00014169877977110445,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 1.0960847248497885e-05,
                    "y": 7.529158096986066e-07,
                    "z": 0.0001412722049281001
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.526951313018799,
                "transform": {
                    "location": {
                        "x": -174.4894561767578,
                        "y": 4319.60693359375,
                        "z": 373.1515808105469
                    },
                    "rotation": {
                        "roll": -0.0007934570894576609,
                        "pitch": 0.008045962080359459,
                        "yaw": -90.0862045288086
                    }
                },
                "velocity": {
                    "x": -0.00823177769780159,
                    "y": -5.526942253112793,
                    "z": -0.005752153228968382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0642355680465698,
                "transform": {
                    "location": {
                        "x": -130.542724609375,
                        "y": 4295.03662109375,
                        "z": 372.92279052734375
                    },
                    "rotation": {
                        "roll": -0.0007019040640443563,
                        "pitch": 0.23491068184375763,
                        "yaw": 179.72146606445312
                    }
                },
                "velocity": {
                    "x": -1.064217448234558,
                    "y": 0.005415908060967922,
                    "z": 0.0030442236457020044
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005267291562631726,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 7.107965302566299e-06,
                    "y": 2.228530320280697e-06,
                    "z": 0.0005266764783300459
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00011092945351265371,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 8.945799891080242e-06,
                    "y": -7.706443284405395e-06,
                    "z": 0.00011029926099581644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001060549751855433,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 6.924867648194777e-06,
                    "y": -1.567806407365424e-06,
                    "z": 0.0010605260031297803
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00045413049519993365,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 1.3250521988084074e-05,
                    "y": 2.818653399572213e-07,
                    "z": 0.00045393704203888774
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.40004152059555054,
        "expert_target_speed": 0.0,
        "target_point": [
            25.972883079776956,
            0.27270355514068323
        ],
        "target_point_next": [
            36.97268805191445,
            0.2104784995026726
        ]
    },
    "640": {
        "acceleration": [
            0.16839779913425446,
            -0.0005712106940336525,
            0.0007541656959801912
        ],
        "angular_velocity": [
            -0.027299242094159126,
            -0.028799423947930336,
            0.032005369663238525
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00032630556961521506,
            0.003520362311974168
        ],
        "right_vector": [
            -0.0003264229162596166,
            -0.9999999403953552,
            -3.275731796748005e-05
        ],
        "location": [
            -160.3524932861328,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0018768678419291973,
            0.2017023116350174,
            179.98130798339844
        ],
        "velocity": [
            0.0017444002442061901,
            -2.8657103030127473e-05,
            0.00010780334559967741
        ],
        "speed": 0.0017446356185578395,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17073059082031,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.810775736696087e-06,
                5.580320703302277e-06,
                0.000815113540738821
            ],
            "speed_kmh": 0.0029346900490030436,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8694899082183838,
                "transform": {
                    "location": {
                        "x": -222.46038818359375,
                        "y": 4302.21484375,
                        "z": 373.263427734375
                    },
                    "rotation": {
                        "roll": -0.004150390625,
                        "pitch": -0.10519856959581375,
                        "yaw": 0.8617056608200073
                    }
                },
                "velocity": {
                    "x": 0.8694843649864197,
                    "y": 0.0021939247380942106,
                    "z": -0.00218761432915926
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013330818619579077,
                "transform": {
                    "location": {
                        "x": -212.70999145507812,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0010557512287050486,
                        "pitch": -0.2395620346069336,
                        "yaw": -0.2622070014476776
                    }
                },
                "velocity": {
                    "x": -0.0004186907026451081,
                    "y": -6.894489342812449e-05,
                    "z": -0.0012637452455237508
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9756407737731934,
                "transform": {
                    "location": {
                        "x": -174.49256896972656,
                        "y": 4334.337890625,
                        "z": 373.1252136230469
                    },
                    "rotation": {
                        "roll": 0.00010844317876035348,
                        "pitch": 0.18999536335468292,
                        "yaw": -89.9273910522461
                    }
                },
                "velocity": {
                    "x": 0.006585860159248114,
                    "y": -3.975635051727295,
                    "z": -0.001646127668209374
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003734334895852953,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 1.4354697668750305e-05,
                    "y": 2.9279020964168012e-05,
                    "z": 0.00037200708175078034
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.447178363800049,
                "transform": {
                    "location": {
                        "x": -104.42460632324219,
                        "y": 4294.89697265625,
                        "z": 372.8193664550781
                    },
                    "rotation": {
                        "roll": 0.0031749564222991467,
                        "pitch": 0.5027223825454712,
                        "yaw": 179.8478546142578
                    }
                },
                "velocity": {
                    "x": -4.447113990783691,
                    "y": 0.01591162197291851,
                    "z": 0.017797192558646202
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9276024699211121,
                "transform": {
                    "location": {
                        "x": -118.88304138183594,
                        "y": 4294.9697265625,
                        "z": 372.9167785644531
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.18111611902713776,
                        "yaw": 179.64010620117188
                    }
                },
                "velocity": {
                    "x": -0.9275887608528137,
                    "y": 0.0039987931959331036,
                    "z": 0.0030917071271687746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009624879457987845,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0011596677359193563,
                        "pitch": -0.20046603679656982,
                        "yaw": -0.2814635932445526
                    }
                },
                "velocity": {
                    "x": 7.68743393564364e-06,
                    "y": 7.197132617875468e-06,
                    "z": 0.0009624303202144802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010862635681405663,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 4.394464212964522e-06,
                    "y": -1.736148192321707e-06,
                    "z": 0.0010862533235922456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.287977695465088,
                "transform": {
                    "location": {
                        "x": -175.33328247070312,
                        "y": 4305.17529296875,
                        "z": 373.0882873535156
                    },
                    "rotation": {
                        "roll": 0.09751386940479279,
                        "pitch": 0.05475762486457825,
                        "yaw": -100.12010955810547
                    }
                },
                "velocity": {
                    "x": -1.6557337045669556,
                    "y": -7.09739875793457,
                    "z": -0.009538402780890465
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008151916554197669,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.810775736696087e-06,
                    "y": 5.580320703302277e-06,
                    "z": 0.000815113540738821
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019458135648164898,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.00044508263817988336,
                        "pitch": 0.22171476483345032,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -1.3693868822883815e-05,
                    "y": 6.09118444572232e-08,
                    "z": -0.00019409888773225248
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9373390674591064,
                "transform": {
                    "location": {
                        "x": -174.49148559570312,
                        "y": 4318.28857421875,
                        "z": 373.1514892578125
                    },
                    "rotation": {
                        "roll": -0.0007629430619999766,
                        "pitch": -0.15938928723335266,
                        "yaw": -90.07942962646484
                    }
                },
                "velocity": {
                    "x": -0.004481618292629719,
                    "y": -3.9373292922973633,
                    "z": -0.007547683548182249
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003998098545707762,
                "transform": {
                    "location": {
                        "x": -130.57827758789062,
                        "y": 4295.037109375,
                        "z": 372.92303466796875
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.21233691275119781,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 1.8365233700023964e-05,
                    "y": 4.026740862173028e-05,
                    "z": -0.00039735270547680557
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008284588693641126,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 1.749299372022506e-05,
                    "y": 2.3362204956356436e-05,
                    "z": 0.0008279446046799421
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005194931873120368,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.2149624126323033e-05,
                    "y": 1.8314268857011484e-07,
                    "z": 0.0005193510442040861
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010442098136991262,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.3016797311138362e-05,
                    "y": 1.7344040315947495e-05,
                    "z": 0.001043984666466713
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009496361017227173,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 1.0341405868530273e-05,
                    "y": -4.602017270372016e-06,
                    "z": 0.0009495686390437186
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3967647850513458,
        "expert_target_speed": 0.0,
        "target_point": [
            25.9724921017666,
            0.2736075235713042
        ],
        "target_point_next": [
            36.972299233238964,
            0.21176536142020483
        ]
    },
    "645": {
        "acceleration": [
            -0.14830799400806427,
            0.00033443549182265997,
            -0.0018129347590729594
        ],
        "angular_velocity": [
            -0.021207770332694054,
            0.007810093928128481,
            -0.012742388993501663
        ],
        "forward_vector": [
            -0.9999938011169434,
            0.00032964342972263694,
            0.0035115405917167664
        ],
        "right_vector": [
            -0.00032976348302327096,
            -0.9999999403953552,
            -3.3609121601330116e-05
        ],
        "location": [
            -160.35296630859375,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0019256726372987032,
            0.20119686424732208,
            179.98110961914062
        ],
        "velocity": [
            0.001978982239961624,
            -2.714735501285759e-06,
            -0.00013222693814896047
        ],
        "speed": 0.0019789841019756498,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.170257568359375,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                6.425566880352562e-06,
                -1.031813462759601e-05,
                0.0003827251784969121
            ],
            "speed_kmh": 0.0013785053610029115,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.3180236816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9764455556869507,
                "transform": {
                    "location": {
                        "x": -222.10086059570312,
                        "y": 4302.21728515625,
                        "z": 373.2606506347656
                    },
                    "rotation": {
                        "roll": 0.004048150032758713,
                        "pitch": 0.08248818665742874,
                        "yaw": 0.7395539283752441
                    }
                },
                "velocity": {
                    "x": 1.976421594619751,
                    "y": 0.007401715498417616,
                    "z": -0.006329545751214027
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002112921210937202,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -5.0006117817247286e-05,
                    "y": 0.00016404263442382216,
                    "z": -0.00012342513946350664
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3559064865112305,
                "transform": {
                    "location": {
                        "x": -174.49061584472656,
                        "y": 4333.15966796875,
                        "z": 373.12518310546875
                    },
                    "rotation": {
                        "roll": 0.001616970868781209,
                        "pitch": 0.2056911289691925,
                        "yaw": -89.93883514404297
                    }
                },
                "velocity": {
                    "x": 0.004100952763110399,
                    "y": -5.355904579162598,
                    "z": 0.0013828182127326727
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020452305034268647,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 5.041993972554337e-06,
                    "y": 3.31135634041857e-05,
                    "z": -0.00020176160614937544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.331909656524658,
                "transform": {
                    "location": {
                        "x": -105.6879653930664,
                        "y": 4294.9013671875,
                        "z": 372.82421875
                    },
                    "rotation": {
                        "roll": 0.00231681065633893,
                        "pitch": 0.6369082927703857,
                        "yaw": 179.8145751953125
                    }
                },
                "velocity": {
                    "x": -5.331831455230713,
                    "y": 0.019431570544838905,
                    "z": 0.021384447813034058
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.711058497428894,
                "transform": {
                    "location": {
                        "x": -119.2176513671875,
                        "y": 4294.97216796875,
                        "z": 372.9171142578125
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.2873118817806244,
                        "yaw": 179.66551208496094
                    }
                },
                "velocity": {
                    "x": -1.7110165357589722,
                    "y": 0.01027041394263506,
                    "z": 0.006187381688505411
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00033950802753679454,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0011596677359193563,
                        "pitch": -0.20046603679656982,
                        "yaw": -0.2814635932445526
                    }
                },
                "velocity": {
                    "x": 5.152560788701521e-06,
                    "y": 2.0019046132802032e-05,
                    "z": 0.00033887813333421946
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011701927287504077,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 1.9522345610312186e-05,
                    "y": -6.358115206239745e-05,
                    "z": 0.0011683010961860418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.492865085601807,
                "transform": {
                    "location": {
                        "x": -175.83546447753906,
                        "y": 4303.32666015625,
                        "z": 373.0863342285156
                    },
                    "rotation": {
                        "roll": 0.1815330982208252,
                        "pitch": -0.029356151819229126,
                        "yaw": -105.79618072509766
                    }
                },
                "velocity": {
                    "x": -2.5877983570098877,
                    "y": -7.031801223754883,
                    "z": -0.009849262423813343
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00038291813689284027,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.425566880352562e-06,
                    "y": -1.031813462759601e-05,
                    "z": 0.0003827251784969121
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016803410835564137,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.00044508263817988336,
                        "pitch": 0.22171476483345032,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.2654177226067986e-05,
                    "y": 9.84514485935506e-07,
                    "z": 0.000167554069776088
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012334567727521062,
                "transform": {
                    "location": {
                        "x": -174.49234008789062,
                        "y": 4317.8935546875,
                        "z": 373.15350341796875
                    },
                    "rotation": {
                        "roll": 4.1289218643214554e-05,
                        "pitch": -0.4475959241390228,
                        "yaw": -90.0479965209961
                    }
                },
                "velocity": {
                    "x": -0.0003773058415390551,
                    "y": 0.0010419515892863274,
                    "z": 0.0005416573258116841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00022981669462751597,
                "transform": {
                    "location": {
                        "x": -130.57835388183594,
                        "y": 4295.037109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 1.1928602361876983e-05,
                    "y": 8.535452070645988e-05,
                    "z": 0.0002130446519004181
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.686825898010284e-05,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 1.0902508620347362e-05,
                    "y": 3.170193303958513e-05,
                    "z": -4.5936063543194905e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003332134219817817,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.251985152834095e-06,
                    "y": 1.924739444802981e-05,
                    "z": 0.0003325780271552503
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0017004379769787192,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 2.107106047333218e-05,
                    "y": 1.759737278916873e-05,
                    "z": 0.0017002163222059608
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005283442442305386,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 9.229890565620735e-06,
                    "y": -6.455879429267952e-06,
                    "z": 0.0005282241618260741
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3976554870605469,
        "expert_target_speed": 0.0,
        "target_point": [
            25.972018165923018,
            0.27369406026241216
        ],
        "target_point_next": [
            36.971825503754594,
            0.2118886139290707
        ]
    },
    "650": {
        "acceleration": [
            0.20724228024482727,
            -0.0017786938697099686,
            -0.0007225036970339715
        ],
        "angular_velocity": [
            -0.027649439871311188,
            -0.03352969512343407,
            0.02965570241212845
        ],
        "forward_vector": [
            -0.9999939203262329,
            0.00031700736144557595,
            0.003476612502709031
        ],
        "right_vector": [
            -0.0003170183044858277,
            -0.9999999403953552,
            -2.595101705082925e-06
        ],
        "location": [
            -160.3503875732422,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.000148689272464253,
            0.19919562339782715,
            179.98184204101562
        ],
        "velocity": [
            0.015678957104682922,
            0.00011691664258250967,
            6.0949325416004285e-05
        ],
        "speed": 0.01567939301732691,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17283630371094,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4026239114173222e-05,
                1.9907953173969872e-05,
                0.0010747810592874885
            ],
            "speed_kmh": 0.003870204922291293,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12636058032512665,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.05303955078125
                    },
                    "rotation": {
                        "roll": 0.00013633197522722185,
                        "pitch": 0.030244076624512672,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": 3.7910569972154917e-06,
                    "y": 6.987529195612296e-05,
                    "z": 0.12636055052280426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1409332752227783,
                "transform": {
                    "location": {
                        "x": -221.5575714111328,
                        "y": 4302.220703125,
                        "z": 373.2606506347656
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.16564573347568512,
                        "yaw": 0.5943310856819153
                    }
                },
                "velocity": {
                    "x": 1.1409192085266113,
                    "y": 0.002734062261879444,
                    "z": -0.004949464462697506
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002901415864471346,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.721605622151401e-05,
                    "y": -3.385846139281057e-05,
                    "z": -0.00028764447779394686
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.804172992706299,
                "transform": {
                    "location": {
                        "x": -174.48953247070312,
                        "y": 4331.75732421875,
                        "z": 373.1246337890625
                    },
                    "rotation": {
                        "roll": 0.0015863971784710884,
                        "pitch": 0.10179030150175095,
                        "yaw": -89.99922943115234
                    }
                },
                "velocity": {
                    "x": 0.0033479835838079453,
                    "y": -5.804171562194824,
                    "z": -0.0015736197819933295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004070490540470928,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 1.648951365496032e-05,
                    "y": 4.344249646237586e-06,
                    "z": 0.000406691717216745
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.850583076477051,
                "transform": {
                    "location": {
                        "x": -107.05601501464844,
                        "y": 4294.9072265625,
                        "z": 372.8301086425781
                    },
                    "rotation": {
                        "roll": 0.005239925812929869,
                        "pitch": 0.5148869752883911,
                        "yaw": 179.7702178955078
                    }
                },
                "velocity": {
                    "x": -5.850475788116455,
                    "y": 0.02740435115993023,
                    "z": 0.022547978907823563
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1723616123199463,
                "transform": {
                    "location": {
                        "x": -119.7410888671875,
                        "y": 4294.9755859375,
                        "z": 372.91912841796875
                    },
                    "rotation": {
                        "roll": 0.000311150070047006,
                        "pitch": 0.288124680519104,
                        "yaw": 179.65966796875
                    }
                },
                "velocity": {
                    "x": -2.172304391860962,
                    "y": 0.012649422511458397,
                    "z": 0.009388408623635769
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010528224520385265,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0011596677359193563,
                        "pitch": -0.20046603679656982,
                        "yaw": -0.2814635932445526
                    }
                },
                "velocity": {
                    "x": 1.1529028597578872e-05,
                    "y": 7.2526045187260024e-06,
                    "z": 0.0010527343256399035
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013690126361325383,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 1.723427340039052e-05,
                    "y": -1.984823938983027e-05,
                    "z": 0.0013687602477148175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.530684471130371,
                "transform": {
                    "location": {
                        "x": -176.47671508789062,
                        "y": 4301.79443359375,
                        "z": 373.0852966308594
                    },
                    "rotation": {
                        "roll": 0.17685723304748535,
                        "pitch": -0.16106951236724854,
                        "yaw": -113.48351287841797
                    }
                },
                "velocity": {
                    "x": -2.673133134841919,
                    "y": -4.8417768478393555,
                    "z": -0.005028286017477512
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010750569636002183,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4026239114173222e-05,
                    "y": 1.9907953173969872e-05,
                    "z": 0.0010747810592874885
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.5564830139046535e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00025453418493270874,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 8.217431059165392e-06,
                    "y": -2.847490918611584e-07,
                    "z": 2.4206472517107613e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4753484725952148,
                "transform": {
                    "location": {
                        "x": -174.4922637939453,
                        "y": 4317.66259765625,
                        "z": 373.14996337890625
                    },
                    "rotation": {
                        "roll": -0.00012206966493977234,
                        "pitch": -0.05725064128637314,
                        "yaw": -90.0599365234375
                    }
                },
                "velocity": {
                    "x": -0.0011955488007515669,
                    "y": -1.4753469228744507,
                    "z": -0.0017325878143310547
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00043392647057771683,
                "transform": {
                    "location": {
                        "x": -130.57835388183594,
                        "y": 4295.037109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 6.01604551775381e-06,
                    "y": 7.012052810750902e-05,
                    "z": 0.00042818114161491394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007333972025662661,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 2.80183921859134e-05,
                    "y": -4.74135740660131e-05,
                    "z": 0.0007313264650292695
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013355071423575282,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.3613476767204702e-05,
                    "y": 7.676942004763987e-06,
                    "z": 0.0013354156399145722
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009660930372774601,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 1.2820139090763405e-05,
                    "y": 3.1196266263577854e-06,
                    "z": 0.000966002931818366
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39814382791519165,
        "expert_target_speed": 0.0,
        "target_point": [
            25.974600422695275,
            0.2733604972577871
        ],
        "target_point_next": [
            36.974406963894616,
            0.21141343277403452
        ]
    },
    "655": {
        "acceleration": [
            -0.2514227628707886,
            -0.0008142078877426684,
            -0.00847549457103014
        ],
        "angular_velocity": [
            -0.0057757250033319,
            0.054175250232219696,
            -0.01830645650625229
        ],
        "forward_vector": [
            -0.9999938011169434,
            0.0003158152394462377,
            0.003511779010295868
        ],
        "right_vector": [
            -0.0003157535975333303,
            -0.9999999403953552,
            1.8109381926478818e-05
        ],
        "location": [
            -160.34765625,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            -0.0010375975398346782,
            0.20121052861213684,
            179.98190307617188
        ],
        "velocity": [
            0.002507707802578807,
            2.7292067898088135e-05,
            -0.0008777427719905972
        ],
        "speed": 0.0025078563116902814,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.175567626953125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.645169145893306e-06,
                3.3564638215466402e-06,
                0.0006273635081015527
            ],
            "speed_kmh": 0.0022587553763543716,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.13718180358409882,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.1053771972656
                    },
                    "rotation": {
                        "roll": -9.155389125226066e-05,
                        "pitch": 0.030223585665225983,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": -1.1722324416041374e-05,
                    "y": 7.421221380354837e-05,
                    "z": 0.13718178868293762
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0759527683258057,
                "transform": {
                    "location": {
                        "x": -221.43023681640625,
                        "y": 4302.220703125,
                        "z": 373.2624206542969
                    },
                    "rotation": {
                        "roll": -0.007751465309411287,
                        "pitch": -0.4649651050567627,
                        "yaw": 0.5670592188835144
                    }
                },
                "velocity": {
                    "x": 1.0759409666061401,
                    "y": 0.003389236517250538,
                    "z": -0.0037329006008803844
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00041559687815606594,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -5.71820874029072e-06,
                    "y": 6.521190243802266e-06,
                    "z": 0.0004155063652433455
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.851907730102539,
                "transform": {
                    "location": {
                        "x": -174.48960876464844,
                        "y": 4330.15380859375,
                        "z": 373.12408447265625
                    },
                    "rotation": {
                        "roll": 0.001301454845815897,
                        "pitch": 0.13852305710315704,
                        "yaw": -90.01797485351562
                    }
                },
                "velocity": {
                    "x": -2.0709707314381376e-05,
                    "y": -6.851907730102539,
                    "z": -0.002147092716768384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00043836896657012403,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 6.237439720280236e-06,
                    "y": 1.1149249075970147e-05,
                    "z": 0.00043818276026286185
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.035031318664551,
                "transform": {
                    "location": {
                        "x": -108.33343505859375,
                        "y": 4294.9111328125,
                        "z": 372.8376159667969
                    },
                    "rotation": {
                        "roll": -0.003143310546875,
                        "pitch": -0.22463807463645935,
                        "yaw": 179.5106658935547
                    }
                },
                "velocity": {
                    "x": -3.035015821456909,
                    "y": 0.001587238279171288,
                    "z": 0.009570464491844177
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6913227438926697,
                "transform": {
                    "location": {
                        "x": -119.919921875,
                        "y": 4294.97607421875,
                        "z": 372.9212951660156
                    },
                    "rotation": {
                        "roll": 0.00013104362005833536,
                        "pitch": 0.1304566115140915,
                        "yaw": 179.6491241455078
                    }
                },
                "velocity": {
                    "x": -0.6913062334060669,
                    "y": 0.00392073905095458,
                    "z": 0.002730884589254856
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004193334898445755,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0011596677359193563,
                        "pitch": -0.20046603679656982,
                        "yaw": -0.2814635932445526
                    }
                },
                "velocity": {
                    "x": 7.064566034387099e-06,
                    "y": 5.503232841874706e-06,
                    "z": 0.0004192378546576947
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007824790081940591,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 1.0363571163907181e-05,
                    "y": -2.9670222829736304e-06,
                    "z": 0.0007824047934263945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.671226739883423,
                "transform": {
                    "location": {
                        "x": -176.87843322753906,
                        "y": 4301.0712890625,
                        "z": 373.0852355957031
                    },
                    "rotation": {
                        "roll": 0.07216518372297287,
                        "pitch": -0.20657223463058472,
                        "yaw": -118.03328704833984
                    }
                },
                "velocity": {
                    "x": -1.512581467628479,
                    "y": -2.201714515686035,
                    "z": -0.00186920166015625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006274320185184479,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.645169145893306e-06,
                    "y": 3.3564638215466402e-06,
                    "z": 0.0006273635081015527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002078808902297169,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.2106671420042403e-05,
                    "y": -2.3822881303203758e-06,
                    "z": 0.00020751438569277525
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.457484006881714,
                "transform": {
                    "location": {
                        "x": -174.49241638183594,
                        "y": 4317.173828125,
                        "z": 373.1487121582031
                    },
                    "rotation": {
                        "roll": 0.00038889891584403813,
                        "pitch": 0.029424453154206276,
                        "yaw": -90.04723358154297
                    }
                },
                "velocity": {
                    "x": -0.0022282025311142206,
                    "y": -2.4574825763702393,
                    "z": -0.0014872550964355469
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.727713480358943e-05,
                "transform": {
                    "location": {
                        "x": -130.57835388183594,
                        "y": 4295.037109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 7.5921789175481535e-06,
                    "y": -2.547438816691283e-05,
                    "z": 6.180313357617706e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029722819454036653,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 4.71673911306425e-06,
                    "y": 2.4740043954807334e-05,
                    "z": 0.0002961592108476907
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008888877928256989,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": -1.1454150126155582e-06,
                    "y": 1.768946458469145e-05,
                    "z": 0.0008887110161595047
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011453800834715366,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 2.088826113322284e-05,
                    "y": 1.0639824949976173e-06,
                    "z": 0.0011451891623437405
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00012448913184925914,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 8.25010192784248e-06,
                    "y": -1.0357742894484545e-06,
                    "z": 0.00012421113206073642
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.397189736366272,
        "expert_target_speed": 0.0,
        "target_point": [
            25.977332006486463,
            0.27333658810220113
        ],
        "target_point_next": [
            36.97713848860347,
            0.21137903338549288
        ]
    },
    "660": {
        "acceleration": [
            0.16599082946777344,
            0.00018221187929157168,
            -0.005128859542310238
        ],
        "angular_velocity": [
            -0.002763120923191309,
            -0.02839619666337967,
            -0.000296895595965907
        ],
        "forward_vector": [
            -0.9999936819076538,
            0.00029554974753409624,
            0.003541938727721572
        ],
        "right_vector": [
            -0.000295610778266564,
            -0.9999999403953552,
            -1.6702382708899677e-05
        ],
        "location": [
            -160.34640502929688,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0009569820249453187,
            0.20293857157230377,
            179.98306274414062
        ],
        "velocity": [
            0.007110836450010538,
            -5.523629442905076e-05,
            -0.0006975745782256126
        ],
        "speed": 0.007111050981888734,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17681884765625,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0316818588762544e-05,
                -9.918317118717823e-06,
                0.0014022474642843008
            ],
            "speed_kmh": 0.005048353769363047,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5806492567062378,
                "transform": {
                    "location": {
                        "x": -174.56304931640625,
                        "y": 4349.1640625,
                        "z": 373.11859130859375
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": 0.06167660653591156,
                        "yaw": -90.00818634033203
                    }
                },
                "velocity": {
                    "x": 0.023916615173220634,
                    "y": -1.5804444551467896,
                    "z": 0.008687791414558887
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.952714204788208,
                "transform": {
                    "location": {
                        "x": -221.046630859375,
                        "y": 4302.22216796875,
                        "z": 373.25701904296875
                    },
                    "rotation": {
                        "roll": 0.0017885222332552075,
                        "pitch": 0.014357056468725204,
                        "yaw": 0.5078984498977661
                    }
                },
                "velocity": {
                    "x": 1.9526958465576172,
                    "y": 0.004996700678020716,
                    "z": -0.00683079706504941
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000600096769630909,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -7.87574754212983e-06,
                    "y": -6.561107056768378e-06,
                    "z": 0.0006000092253088951
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.769209384918213,
                "transform": {
                    "location": {
                        "x": -174.48936462402344,
                        "y": 4328.67333984375,
                        "z": 373.1226806640625
                    },
                    "rotation": {
                        "roll": -0.0006408889894373715,
                        "pitch": -0.3480869233608246,
                        "yaw": -90.29563903808594
                    }
                },
                "velocity": {
                    "x": 0.00673340680077672,
                    "y": -3.7691988945007324,
                    "z": -0.0057366942055523396
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012927284697070718,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 8.21582943899557e-06,
                    "y": 1.225747382704867e-05,
                    "z": 0.001292644301429391
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5127382874488831,
                "transform": {
                    "location": {
                        "x": -108.51429748535156,
                        "y": 4294.91015625,
                        "z": 372.8409423828125
                    },
                    "rotation": {
                        "roll": 0.012576512061059475,
                        "pitch": -0.9259687066078186,
                        "yaw": 179.42135620117188
                    }
                },
                "velocity": {
                    "x": -0.5127226710319519,
                    "y": 0.0028435459826141596,
                    "z": 0.0028158091008663177
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6230708360671997,
                "transform": {
                    "location": {
                        "x": -120.19140625,
                        "y": 4294.97802734375,
                        "z": 372.92138671875
                    },
                    "rotation": {
                        "roll": -0.0007019040640443563,
                        "pitch": 0.23794329166412354,
                        "yaw": 179.6541290283203
                    }
                },
                "velocity": {
                    "x": -0.6230626702308655,
                    "y": 0.002487031277269125,
                    "z": 0.001989812823012471
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016181108076125383,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -0.20050019025802612,
                        "yaw": -0.2814941108226776
                    }
                },
                "velocity": {
                    "x": 1.0875910447794013e-05,
                    "y": -1.121845798479626e-05,
                    "z": 0.0016180353704839945
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009998789755627513,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14404296875
                    },
                    "rotation": {
                        "roll": 0.004828747361898422,
                        "pitch": -0.20209161937236786,
                        "yaw": -1.863006591796875
                    }
                },
                "velocity": {
                    "x": 3.781242048717104e-05,
                    "y": -7.032614666968584e-05,
                    "z": 0.0009966857032850385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.655139446258545,
                "transform": {
                    "location": {
                        "x": -177.34429931640625,
                        "y": 4300.4296875,
                        "z": 373.0835876464844
                    },
                    "rotation": {
                        "roll": 0.08090797811746597,
                        "pitch": -0.021364830434322357,
                        "yaw": -121.64396667480469
                    }
                },
                "velocity": {
                    "x": -2.29361891746521,
                    "y": -2.8459367752075195,
                    "z": 0.0009318351512774825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014023205731064081,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0316818588762544e-05,
                    "y": -9.918317118717823e-06,
                    "z": 0.0014022474642843008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024136927095241845,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.6288384358631447e-05,
                    "y": 5.7400080549996346e-05,
                    "z": 0.00023387826513499022
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8239119052886963,
                "transform": {
                    "location": {
                        "x": -174.49234008789062,
                        "y": 4316.384765625,
                        "z": 373.14739990234375
                    },
                    "rotation": {
                        "roll": -3.051576277357526e-05,
                        "pitch": 0.07467445731163025,
                        "yaw": -90.05272674560547
                    }
                },
                "velocity": {
                    "x": -0.0033840318210422993,
                    "y": -3.823908805847168,
                    "z": -0.003651151666417718
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005613824469037354,
                "transform": {
                    "location": {
                        "x": -130.57835388183594,
                        "y": 4295.037109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 6.2481685745297e-06,
                    "y": -1.8737628124654293e-06,
                    "z": 0.0005613445537164807
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.4214834158774465e-05,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": -3.845356332021765e-06,
                    "y": 3.3915242966031656e-05,
                    "z": 2.371604750806e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004738343122880906,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.0348819159844425e-05,
                    "y": -1.857451570685953e-05,
                    "z": -0.00047335700946860015
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001158420811407268,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 2.0444691472221166e-05,
                    "y": -2.220730675617233e-05,
                    "z": 0.0011580274440348148
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004015149606857449,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 4.112943770451238e-06,
                    "y": 1.3877267520001624e-05,
                    "z": -0.00040125398663803935
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3976984918117523,
        "expert_target_speed": 0.0,
        "target_point": [
            25.978588696081083,
            0.27281670574096883
        ],
        "target_point_next": [
            36.97839393515826,
            0.2106388561452244
        ]
    },
    "665": {
        "acceleration": [
            0.0010276160901412368,
            0.002360560931265354,
            -0.008081033825874329
        ],
        "angular_velocity": [
            0.016641927883028984,
            0.013563936576247215,
            -2.755666537268553e-05
        ],
        "forward_vector": [
            -0.999993622303009,
            0.0003081858449149877,
            0.0035520715173333883
        ],
        "right_vector": [
            -0.00030820234678685665,
            -0.9999999403953552,
            -4.098919816897251e-06
        ],
        "location": [
            -160.34625244140625,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.00023485229758080095,
            0.20351913571357727,
            179.9823455810547
        ],
        "velocity": [
            4.7533212637063116e-05,
            -0.00015562569024041295,
            -0.0009891423396766186
        ],
        "speed": 0.00016272296016974747,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17697525024414,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1693387932609767e-05,
                4.238143901602598e-06,
                0.0006492967950180173
            ],
            "speed_kmh": 0.0023378972788953797,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.8339555263519287,
                "transform": {
                    "location": {
                        "x": -174.55874633789062,
                        "y": 4348.58154296875,
                        "z": 373.11859130859375
                    },
                    "rotation": {
                        "roll": -0.0016784666804596782,
                        "pitch": 0.06444282829761505,
                        "yaw": -89.8468017578125
                    }
                },
                "velocity": {
                    "x": 0.023920070379972458,
                    "y": -2.8338537216186523,
                    "z": -0.0021094989497214556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0015297523932531476,
                "transform": {
                    "location": {
                        "x": -220.91038513183594,
                        "y": 4302.220703125,
                        "z": 373.2610168457031
                    },
                    "rotation": {
                        "roll": -0.02218627743422985,
                        "pitch": -0.5348242521286011,
                        "yaw": 0.7687350511550903
                    }
                },
                "velocity": {
                    "x": 0.0012940887827426195,
                    "y": 0.00032598545658402145,
                    "z": 0.0007478034822270274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00014052355254534632,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.7465761629864573e-05,
                    "y": -3.6014829674968496e-05,
                    "z": 0.0001347024372080341
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.45142698287963867,
                "transform": {
                    "location": {
                        "x": -174.48873901367188,
                        "y": 4328.421875,
                        "z": 373.1222229003906
                    },
                    "rotation": {
                        "roll": 0.008506246842443943,
                        "pitch": -0.5321605205535889,
                        "yaw": -90.37772369384766
                    }
                },
                "velocity": {
                    "x": -0.000594181299675256,
                    "y": -0.4514259696006775,
                    "z": -0.0007390785031020641
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00046950054820626974,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": -6.337053946481319e-06,
                    "y": -3.968402597820386e-05,
                    "z": 0.00046777751413173974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4797450304031372,
                "transform": {
                    "location": {
                        "x": -108.79757690429688,
                        "y": 4294.91259765625,
                        "z": 372.8383483886719
                    },
                    "rotation": {
                        "roll": 0.005574428476393223,
                        "pitch": 0.09083467721939087,
                        "yaw": 179.46588134765625
                    }
                },
                "velocity": {
                    "x": -1.4797016382217407,
                    "y": 0.00954748410731554,
                    "z": 0.006103801541030407
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010613362537696958,
                "transform": {
                    "location": {
                        "x": -120.19664001464844,
                        "y": 4294.97802734375,
                        "z": 372.9219970703125
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": 0.16993509232997894,
                        "yaw": 179.65155029296875
                    }
                },
                "velocity": {
                    "x": 0.000445228855824098,
                    "y": 6.902139375597471e-07,
                    "z": 0.0009634341695345938
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00039048638427630067,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0012512204702943563,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.2814941108226776
                    }
                },
                "velocity": {
                    "x": 8.050426913541742e-06,
                    "y": 1.5747395082144067e-05,
                    "z": 0.0003900856536347419
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003378420078661293,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 1.3695321285922546e-05,
                    "y": 3.568283136701211e-05,
                    "z": 0.0003356730449013412
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.798858165740967,
                "transform": {
                    "location": {
                        "x": -178.01663208007812,
                        "y": 4299.61083984375,
                        "z": 373.08355712890625
                    },
                    "rotation": {
                        "roll": 0.1862727850675583,
                        "pitch": 0.0966198518872261,
                        "yaw": -126.29412841796875
                    }
                },
                "velocity": {
                    "x": -3.251755952835083,
                    "y": -3.529177188873291,
                    "z": 0.005829868372529745
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006494158878922462,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1693387932609767e-05,
                    "y": 4.238143901602598e-06,
                    "z": 0.0006492967950180173
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006829102640040219,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 2.1487809135578573e-05,
                    "y": 9.356806458526989e-07,
                    "z": 0.0006825714954175055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.110332489013672,
                "transform": {
                    "location": {
                        "x": -174.4942169189453,
                        "y": 4315.25732421875,
                        "z": 373.146240234375
                    },
                    "rotation": {
                        "roll": 0.00019623470143415034,
                        "pitch": 0.07540528476238251,
                        "yaw": -90.06036376953125
                    }
                },
                "velocity": {
                    "x": -0.005343230906873941,
                    "y": -5.110329627990723,
                    "z": 2.5749204723979346e-07
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00045744897215627134,
                "transform": {
                    "location": {
                        "x": -130.57835388183594,
                        "y": 4295.037109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 1.1419243492127862e-05,
                    "y": -4.90010233988869e-06,
                    "z": 0.0004572801699396223
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008175656548701227,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 1.5815161532373168e-05,
                    "y": -5.279506149236113e-05,
                    "z": 0.0008157059201039374
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004515335604082793,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.395222837658366e-06,
                    "y": 4.016065940959379e-05,
                    "z": 0.0004496831970755011
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007155686616897583,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 3.6052240375283873e-06,
                    "y": 2.3331187549047172e-05,
                    "z": 0.0007151791360229254
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002722693025134504,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 9.311474968853872e-06,
                    "y": 1.2792454526788788e-06,
                    "z": 0.00027210701955482364
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3975644111633301,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97873789965025,
            0.27313882918746696
        ],
        "target_point_next": [
            36.9785439087485,
            0.2110973526091433
        ]
    },
    "670": {
        "acceleration": [
            0.00026461927336640656,
            0.004864517133682966,
            -0.00847899354994297
        ],
        "angular_velocity": [
            -0.002952520502731204,
            -0.006670074537396431,
            4.736915434477851e-05
        ],
        "forward_vector": [
            -0.999993622303009,
            0.0003081858449149877,
            0.0035520715173333883
        ],
        "right_vector": [
            -0.00030820234678685665,
            -0.9999999403953552,
            -4.098919816897251e-06
        ],
        "location": [
            -160.34625244140625,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.00023485229758080095,
            0.20351913571357727,
            179.9823455810547
        ],
        "velocity": [
            -1.5472509403480217e-05,
            0.0001542288955533877,
            -0.00021785512217320502
        ],
        "speed": 0.00015500306697242657,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17697525024414,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.7508933575009e-06,
                -3.345639356666652e-07,
                0.00021058786660432816
            ],
            "speed_kmh": 0.0007587715450555104,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.613396406173706,
                "transform": {
                    "location": {
                        "x": -174.55303955078125,
                        "y": 4347.77099609375,
                        "z": 373.11871337890625
                    },
                    "rotation": {
                        "roll": -0.0007934561581350863,
                        "pitch": 0.05151328444480896,
                        "yaw": -89.69268798828125
                    }
                },
                "velocity": {
                    "x": 0.0317026749253273,
                    "y": -3.6132566928863525,
                    "z": 0.0022839545272290707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00251899310387671,
                "transform": {
                    "location": {
                        "x": -220.90835571289062,
                        "y": 4302.220703125,
                        "z": 373.25933837890625
                    },
                    "rotation": {
                        "roll": -0.006378173828125,
                        "pitch": -0.328429639339447,
                        "yaw": 0.7685649394989014
                    }
                },
                "velocity": {
                    "x": -0.0022893042769283056,
                    "y": 0.0004597578081302345,
                    "z": 0.0009450050420127809
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003424034221097827,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.8797442180584767e-06,
                    "y": 1.3246130947663914e-05,
                    "z": -0.0003421419532969594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5509613752365112,
                "transform": {
                    "location": {
                        "x": -174.48898315429688,
                        "y": 4328.1552734375,
                        "z": 373.1228332519531
                    },
                    "rotation": {
                        "roll": 0.0005902735283598304,
                        "pitch": -0.008544566109776497,
                        "yaw": -90.37896728515625
                    }
                },
                "velocity": {
                    "x": -0.005250767804682255,
                    "y": -1.5509514808654785,
                    "z": -0.0017212677048519254
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.018771379487589e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 9.332485205959529e-06,
                    "y": -1.5317369616241194e-05,
                    "z": 8.838612120598555e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2277815341949463,
                "transform": {
                    "location": {
                        "x": -109.28546905517578,
                        "y": 4294.916015625,
                        "z": 372.8390197753906
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.4340584874153137,
                        "yaw": 179.51914978027344
                    }
                },
                "velocity": {
                    "x": -2.227727174758911,
                    "y": 0.01336858794093132,
                    "z": 0.007968826219439507
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -120.19686889648438,
                        "y": 4294.97802734375,
                        "z": 372.9216613769531
                    },
                    "rotation": {
                        "roll": 0.0007136444910429418,
                        "pitch": 0.20481687784194946,
                        "yaw": 179.65155029296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00040101195918396115,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.2815246284008026
                    }
                },
                "velocity": {
                    "x": 7.86438522482058e-06,
                    "y": 9.022122867463622e-06,
                    "z": 0.0004008333198726177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002621710009407252,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 1.8618404283188283e-05,
                    "y": 9.074295121536124e-06,
                    "z": 0.00026135158259421587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.991634368896484,
                "transform": {
                    "location": {
                        "x": -178.93875122070312,
                        "y": 4298.66943359375,
                        "z": 373.0858154296875
                    },
                    "rotation": {
                        "roll": 0.20630012452602386,
                        "pitch": 0.20636732876300812,
                        "yaw": -132.3197784423828
                    }
                },
                "velocity": {
                    "x": -4.557181358337402,
                    "y": -3.8899335861206055,
                    "z": 0.01390775665640831
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00021076986740808934,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.7508933575009e-06,
                    "y": -3.345639356666652e-07,
                    "z": 0.00021058786660432816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000167453836183995,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0005871857283636928,
                        "pitch": 0.22185136377811432,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 1.23993304441683e-05,
                    "y": 1.7329933825749322e-06,
                    "z": 0.00016698514809831977
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6813762187957764,
                "transform": {
                    "location": {
                        "x": -174.4930419921875,
                        "y": 4314.16015625,
                        "z": 373.1468811035156
                    },
                    "rotation": {
                        "roll": 0.000906064291484654,
                        "pitch": -0.16399966180324554,
                        "yaw": -90.35858154296875
                    }
                },
                "velocity": {
                    "x": -0.0032026036642491817,
                    "y": -3.681370973587036,
                    "z": -0.00530321104452014
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.409139804309234e-05,
                "transform": {
                    "location": {
                        "x": -130.57835388183594,
                        "y": 4295.037109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 7.4154881986032706e-06,
                    "y": -1.1279684031251236e-07,
                    "z": 1.1981874195043929e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003671013982966542,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 1.2209788110340014e-05,
                    "y": -2.3437356503563933e-05,
                    "z": 0.00036614894634112716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004111137241125107,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.3941451470600441e-05,
                    "y": 1.7677690266282298e-05,
                    "z": 0.0004104968102183193
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001036925008520484,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.4234780792321544e-05,
                    "y": -1.0099465441726352e-07,
                    "z": 0.0010368273360654712
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.574579386622645e-05,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 9.280964150093496e-06,
                    "y": 6.836354714323534e-06,
                    "z": 3.383621879038401e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39570701122283936,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97873789965025,
            0.27313882918746696
        ],
        "target_point_next": [
            36.9785439087485,
            0.2110973526091433
        ]
    },
    "675": {
        "acceleration": [
            -0.00014769061817787588,
            -0.003220513928681612,
            0.011667818762362003
        ],
        "angular_velocity": [
            -0.0026820844504982233,
            -0.0007177061634138227,
            4.370435999589972e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035254880785942078
        ],
        "right_vector": [
            -0.0003086814540438354,
            -0.9999999403953552,
            -4.7749786062922794e-06
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.00027358782244846225,
            0.20199599862098694,
            179.98231506347656
        ],
        "velocity": [
            4.466958216653438e-06,
            -2.205753480666317e-05,
            -1.4973426914366428e-05
        ],
        "speed": 2.250530065243486e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2952275028510485e-05,
                1.5352026139225927e-06,
                0.0011375192552804947
            ],
            "speed_kmh": 0.0040953385037558795,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.347787857055664,
                "transform": {
                    "location": {
                        "x": -174.5449981689453,
                        "y": 4346.77197265625,
                        "z": 373.11907958984375
                    },
                    "rotation": {
                        "roll": -0.00024413930077571422,
                        "pitch": 0.04307800158858299,
                        "yaw": -89.601806640625
                    }
                },
                "velocity": {
                    "x": 0.039160873740911484,
                    "y": -4.347610950469971,
                    "z": 0.001754226628690958
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0010969768045470119,
                "transform": {
                    "location": {
                        "x": -220.90695190429688,
                        "y": 4302.220703125,
                        "z": 373.2581481933594
                    },
                    "rotation": {
                        "roll": -0.004150390159338713,
                        "pitch": -0.18490687012672424,
                        "yaw": 0.7685161828994751
                    }
                },
                "velocity": {
                    "x": -0.00017728547391016036,
                    "y": -9.828753536567092e-05,
                    "z": 0.0010780850425362587
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.695739961694926e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 2.0478590158745646e-05,
                    "y": 7.267311593750492e-05,
                    "z": -4.313739555072971e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3254072666168213,
                "transform": {
                    "location": {
                        "x": -174.48983764648438,
                        "y": 4327.640625,
                        "z": 373.1226806640625
                    },
                    "rotation": {
                        "roll": -0.0018005401361733675,
                        "pitch": 0.07808271795511246,
                        "yaw": -90.22384643554688
                    }
                },
                "velocity": {
                    "x": -0.003799708327278495,
                    "y": -2.3254029750823975,
                    "z": -0.00245775212533772
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004863142385147512,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 1.0600462701404467e-05,
                    "y": 2.089941881422419e-05,
                    "z": 0.00048574930406175554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.42927077412605286,
                "transform": {
                    "location": {
                        "x": -109.55828094482422,
                        "y": 4294.91748046875,
                        "z": 372.8426208496094
                    },
                    "rotation": {
                        "roll": 0.0018160614417865872,
                        "pitch": -0.23577812314033508,
                        "yaw": 179.5502471923828
                    }
                },
                "velocity": {
                    "x": -0.4292626976966858,
                    "y": 0.0017326665110886097,
                    "z": 0.0019868467934429646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -120.19686889648438,
                        "y": 4294.97802734375,
                        "z": 372.9216613769531
                    },
                    "rotation": {
                        "roll": 0.0007136444910429418,
                        "pitch": 0.20481687784194946,
                        "yaw": 179.65155029296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012120442697778344,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.2815246284008026
                    }
                },
                "velocity": {
                    "x": 1.1381021977285855e-05,
                    "y": -1.3873229818273103e-06,
                    "z": 0.001211990020237863
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000391884968848899,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 1.1784545677073766e-05,
                    "y": 4.2601124732755125e-05,
                    "z": -0.0003893842513207346
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07711410522461,
                "transform": {
                    "location": {
                        "x": -180.34132385253906,
                        "y": 4297.5234375,
                        "z": 373.0906982421875
                    },
                    "rotation": {
                        "roll": 0.2953445017337799,
                        "pitch": 0.33336102962493896,
                        "yaw": -140.4357452392578
                    }
                },
                "velocity": {
                    "x": -6.660319805145264,
                    "y": -4.569352626800537,
                    "z": 0.030566291883587837
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011375939939171076,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2952275028510485e-05,
                    "y": 1.5352026139225927e-06,
                    "z": 0.0011375192552804947
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013583290274254978,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0006870129145681858,
                        "pitch": 0.222097247838974,
                        "yaw": 179.66172790527344
                    }
                },
                "velocity": {
                    "x": -4.548579454421997e-06,
                    "y": 2.6724812414613552e-05,
                    "z": 0.00013310022768564522
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.675013542175293,
                "transform": {
                    "location": {
                        "x": -174.4960174560547,
                        "y": 4313.1259765625,
                        "z": 373.1443786621094
                    },
                    "rotation": {
                        "roll": -0.0007019045297056437,
                        "pitch": -0.02368026413023472,
                        "yaw": -90.24205017089844
                    }
                },
                "velocity": {
                    "x": -0.0056329090148210526,
                    "y": -4.67500638961792,
                    "z": -0.005777978803962469
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008318743202835321,
                "transform": {
                    "location": {
                        "x": -130.57835388183594,
                        "y": 4295.037109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 9.017139745992608e-06,
                    "y": -1.3069864507997409e-05,
                    "z": 0.0008317227475345135
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009933755500242114,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 1.601405347173568e-05,
                    "y": -1.3426311852526851e-05,
                    "z": 0.0009931557578966022
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007592703332193196,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 5.744732789025875e-06,
                    "y": -1.6541493096156046e-05,
                    "z": 0.0007590683526359499
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012169342953711748,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.681439607637003e-05,
                    "y": 9.545984539727215e-06,
                    "z": 0.001216780743561685
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007810945971868932,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 1.357901783194393e-05,
                    "y": -1.2092206816305406e-05,
                    "z": 0.0007808829541318119
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39761099219322205,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "680": {
        "acceleration": [
            -4.997997166356072e-05,
            -0.0004790108650922775,
            0.005218478851020336
        ],
        "angular_velocity": [
            0.00770551199093461,
            0.0008362086955457926,
            7.08698962625931e-06
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            9.761117325979285e-06,
            -6.391281203832477e-05,
            5.4461805120809004e-05
        ],
        "speed": 6.465390130609107e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.890330718713813e-06,
                -4.842334874410881e-06,
                0.00045054330257698894
            ],
            "speed_kmh": 0.001622365288012716,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.131433963775635,
                "transform": {
                    "location": {
                        "x": -174.53475952148438,
                        "y": 4345.58544921875,
                        "z": 373.1197814941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.037340641021728516,
                        "yaw": -89.53661346435547
                    }
                },
                "velocity": {
                    "x": 0.04709605127573013,
                    "y": -5.1312150955200195,
                    "z": 0.00515028927475214
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003677922359202057,
                "transform": {
                    "location": {
                        "x": -220.9071807861328,
                        "y": 4302.220703125,
                        "z": 373.2583923339844
                    },
                    "rotation": {
                        "roll": -0.004882812034338713,
                        "pitch": -0.21179048717021942,
                        "yaw": 0.7685123682022095
                    }
                },
                "velocity": {
                    "x": 0.00027923323796130717,
                    "y": -7.290527719305828e-05,
                    "z": 0.00022800166334491223
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00042085826862603426,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 2.2995396648184396e-05,
                    "y": 7.58873502491042e-05,
                    "z": -0.00041332069667987525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017748769605532289,
                "transform": {
                    "location": {
                        "x": -174.49053955078125,
                        "y": 4327.33154296875,
                        "z": 373.1220703125
                    },
                    "rotation": {
                        "roll": -0.0008850162848830223,
                        "pitch": -0.3135671317577362,
                        "yaw": -90.04844665527344
                    }
                },
                "velocity": {
                    "x": 0.000394075846998021,
                    "y": 0.0005229879170656204,
                    "z": -0.0016496593598276377
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009872725931927562,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": -8.36290382721927e-07,
                    "y": 3.641111106844619e-05,
                    "z": 0.0009866005275398493
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3590096235275269,
                "transform": {
                    "location": {
                        "x": -109.80233764648438,
                        "y": 4294.91943359375,
                        "z": 372.8417053222656
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.2740476727485657,
                        "yaw": 179.61239624023438
                    }
                },
                "velocity": {
                    "x": -1.3589794635772705,
                    "y": 0.007847132161259651,
                    "z": 0.004510917700827122
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -120.19686889648438,
                        "y": 4294.97802734375,
                        "z": 372.9216613769531
                    },
                    "rotation": {
                        "roll": 0.0007136444910429418,
                        "pitch": 0.20481687784194946,
                        "yaw": 179.65155029296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00046658870996907353,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.2815246284008026
                    }
                },
                "velocity": {
                    "x": 7.24792471373803e-06,
                    "y": 8.61660828377353e-06,
                    "z": 0.0004664528532885015
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.148310661315918,
                "transform": {
                    "location": {
                        "x": -182.11546325683594,
                        "y": 4296.46630859375,
                        "z": 373.09954833984375
                    },
                    "rotation": {
                        "roll": 0.3932497799396515,
                        "pitch": 0.2627778649330139,
                        "yaw": -150.693115234375
                    }
                },
                "velocity": {
                    "x": -7.501035213470459,
                    "y": -3.1825010776519775,
                    "z": 0.0335073284804821
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00045065704034641385,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.890330718713813e-06,
                    "y": -4.842334874410881e-06,
                    "z": 0.00045054330257698894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006647697300650179,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0016721589490771294,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.66172790527344
                    }
                },
                "velocity": {
                    "x": 6.330013093247544e-06,
                    "y": 6.890005806781119e-06,
                    "z": 0.0006647038972005248
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.454509258270264,
                "transform": {
                    "location": {
                        "x": -174.49874877929688,
                        "y": 4311.9296875,
                        "z": 373.1432800292969
                    },
                    "rotation": {
                        "roll": -0.0007019058102741838,
                        "pitch": -0.07061732560396194,
                        "yaw": -90.15154266357422
                    }
                },
                "velocity": {
                    "x": -0.004036362282931805,
                    "y": -4.454504013061523,
                    "z": -0.005383014678955078
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00033868980244733393,
                "transform": {
                    "location": {
                        "x": -130.57835388183594,
                        "y": 4295.037109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 1.0504871170269325e-05,
                    "y": -2.162245800718665e-05,
                    "z": 0.0003378356050234288
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003305056306999177,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 2.6941484975395724e-05,
                    "y": -2.511157072149217e-05,
                    "z": 0.0003284471749793738
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003667959535960108,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 9.819343176786788e-06,
                    "y": 8.134316686891907e-08,
                    "z": 0.00036666449159383774
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013462322531268,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 8.51906861498719e-06,
                    "y": -8.501999218424316e-06,
                    "z": 0.001346178469248116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002382748352829367,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 6.878301519464003e-06,
                    "y": -2.378049430262763e-06,
                    "z": -0.00023816365865059197
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3986397385597229,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "685": {
        "acceleration": [
            3.692209429573268e-05,
            -1.0479343472979963e-05,
            -0.0009056302951648831
        ],
        "angular_velocity": [
            0.0019633357878774405,
            0.0004746033810079098,
            3.984311842941679e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            9.000971658679191e-06,
            -1.1351550710969605e-05,
            0.00019107254047412425
        ],
        "speed": 1.4487069901952587e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4849826584395487e-05,
                -2.3455955044937582e-07,
                0.0015499466098845005
            ],
            "speed_kmh": 0.005580063947084166,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.640716075897217,
                "transform": {
                    "location": {
                        "x": -174.52304077148438,
                        "y": 4344.251953125,
                        "z": 373.1203308105469
                    },
                    "rotation": {
                        "roll": -0.0005187984206713736,
                        "pitch": 0.027348075062036514,
                        "yaw": -89.49493408203125
                    }
                },
                "velocity": {
                    "x": 0.05303451791405678,
                    "y": -5.640466213226318,
                    "z": 0.0018373775528743863
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.681750579038635e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2585144042969
                    },
                    "rotation": {
                        "roll": -0.005523681640625,
                        "pitch": -0.22525279223918915,
                        "yaw": 0.7685033679008484
                    }
                },
                "velocity": {
                    "x": -1.0212995221081655e-05,
                    "y": -2.986202844112995e-06,
                    "z": -4.559228182188235e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00026780436746776104,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -1.2216232789796777e-05,
                    "y": -2.7221311029279605e-05,
                    "z": 0.0002661370672285557
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0893789529800415,
                "transform": {
                    "location": {
                        "x": -174.49046325683594,
                        "y": 4327.16943359375,
                        "z": 373.1223449707031
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": 0.007444905582815409,
                        "yaw": -90.0115966796875
                    }
                },
                "velocity": {
                    "x": 4.5217057049740106e-05,
                    "y": -1.089377999305725,
                    "z": -0.0014635276747867465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015174514846876264,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 6.571262929355726e-06,
                    "y": 3.0418107144214446e-06,
                    "z": 0.001517434255219996
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.001193258329294622,
                "transform": {
                    "location": {
                        "x": -109.92562103271484,
                        "y": 4294.91845703125,
                        "z": 372.8434753417969
                    },
                    "rotation": {
                        "roll": 0.00800499226897955,
                        "pitch": -0.08767230063676834,
                        "yaw": 179.34890747070312
                    }
                },
                "velocity": {
                    "x": 0.0007752564270049334,
                    "y": -8.50921860546805e-05,
                    "z": 0.0009031071094796062
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.08005966991186142,
                "transform": {
                    "location": {
                        "x": -120.20335388183594,
                        "y": 4294.97802734375,
                        "z": 372.9212951660156
                    },
                    "rotation": {
                        "roll": 0.000753433327190578,
                        "pitch": 0.2258470207452774,
                        "yaw": 179.65170288085938
                    }
                },
                "velocity": {
                    "x": -0.0800393596291542,
                    "y": 0.0005455050268210471,
                    "z": 0.0017187690827995539
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0014180038124322891,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.2815246284008026
                    }
                },
                "velocity": {
                    "x": 1.0555498192843515e-05,
                    "y": -2.6578297820378793e-06,
                    "z": 0.0014179620193317533
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.597618342610076e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 8.964463631855324e-06,
                    "y": -2.5777211703825742e-05,
                    "z": 2.3440554286935367e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.795927047729492,
                "transform": {
                    "location": {
                        "x": -183.9676513671875,
                        "y": 4295.82373046875,
                        "z": 373.1077575683594
                    },
                    "rotation": {
                        "roll": 0.3857036530971527,
                        "pitch": 0.2012241929769516,
                        "yaw": -162.79098510742188
                    }
                },
                "velocity": {
                    "x": -7.68466854095459,
                    "y": -1.3120617866516113,
                    "z": 0.02906288020312786
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015500177396461368,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4849826584395487e-05,
                    "y": -2.3455955044937582e-07,
                    "z": 0.0015499466098845005
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00032813107827678323,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0016721589490771294,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.66172790527344
                    }
                },
                "velocity": {
                    "x": 6.8759918576688506e-06,
                    "y": -2.6227897251374088e-05,
                    "z": -0.0003270088927820325
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.4074578285217285,
                "transform": {
                    "location": {
                        "x": -174.49937438964844,
                        "y": 4310.859375,
                        "z": 373.1419982910156
                    },
                    "rotation": {
                        "roll": -0.00012206975952722132,
                        "pitch": -0.08520660549402237,
                        "yaw": -90.10499572753906
                    }
                },
                "velocity": {
                    "x": -0.003582578618079424,
                    "y": -4.40745210647583,
                    "z": -0.006146335508674383
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000773134408518672,
                "transform": {
                    "location": {
                        "x": -130.57835388183594,
                        "y": 4295.037109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 1.0383799235569313e-05,
                    "y": -1.5075627743499354e-05,
                    "z": 0.0007729177013970912
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.529749665176496e-05,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.21420155465602875,
                        "yaw": -0.1732177734375
                    }
                },
                "velocity": {
                    "x": 2.8177015337860212e-05,
                    "y": 3.992237452621339e-06,
                    "z": -2.0881359887425788e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00011143650772282854,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 8.063688255788293e-06,
                    "y": -1.256772520719096e-06,
                    "z": 0.00011113726941403002
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014296108856797218,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 2.3651160518056713e-05,
                    "y": 4.1797872540882963e-07,
                    "z": 0.0014294151915237308
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.902894943370484e-05,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 7.454827482433757e-06,
                    "y": -9.370028237754013e-06,
                    "z": 4.754435576614924e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3972019851207733,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "690": {
        "acceleration": [
            -0.0004150137538090348,
            -0.0017448849976062775,
            0.0015241887886077166
        ],
        "angular_velocity": [
            0.0010941383661702275,
            -0.0030354815535247326,
            4.65376942884177e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            -3.68576479559124e-06,
            4.675593118008692e-06,
            -0.0001854634756455198
        ],
        "speed": 5.953657122608756e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1529363291629124e-05,
                -6.478601790149696e-06,
                0.0006333448109216988
            ],
            "speed_kmh": 0.0022805383360833434,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.375227928161621,
                "transform": {
                    "location": {
                        "x": -174.51194763183594,
                        "y": 4342.7529296875,
                        "z": 373.1206970214844
                    },
                    "rotation": {
                        "roll": 0.0009001310681924224,
                        "pitch": 0.03135056793689728,
                        "yaw": -89.58021545410156
                    }
                },
                "velocity": {
                    "x": 0.03428865969181061,
                    "y": -6.37513542175293,
                    "z": 0.0013970088912174106
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.506553497980349e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": -9.334049536846578e-06,
                    "y": 8.156216608767863e-06,
                    "z": 5.3652256610803306e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00043260608799755573,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 3.697313331940677e-06,
                    "y": -6.771349490009015e-07,
                    "z": 0.0004325897607486695
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1028342247009277,
                "transform": {
                    "location": {
                        "x": -174.49053955078125,
                        "y": 4326.759765625,
                        "z": 373.1221923828125
                    },
                    "rotation": {
                        "roll": 0.00014757968892809004,
                        "pitch": 0.10382570326328278,
                        "yaw": -90.05145263671875
                    }
                },
                "velocity": {
                    "x": -0.0009703269461169839,
                    "y": -2.102832794189453,
                    "z": -0.0022795009426772594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006775438669137657,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 1.2977607184438966e-05,
                    "y": 3.266718704253435e-05,
                    "z": 0.0006766314618289471
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0024751825258135796,
                "transform": {
                    "location": {
                        "x": -109.92733764648438,
                        "y": 4294.91845703125,
                        "z": 372.84283447265625
                    },
                    "rotation": {
                        "roll": 0.0035838179755955935,
                        "pitch": 0.091948002576828,
                        "yaw": 179.34896850585938
                    }
                },
                "velocity": {
                    "x": 0.002011245349422097,
                    "y": 0.00017527567979414016,
                    "z": 0.001432026270776987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.7755831480026245,
                "transform": {
                    "location": {
                        "x": -120.29460906982422,
                        "y": 4294.978515625,
                        "z": 372.92138671875
                    },
                    "rotation": {
                        "roll": 0.0007796346908435225,
                        "pitch": 0.28497597575187683,
                        "yaw": 179.652099609375
                    }
                },
                "velocity": {
                    "x": -0.775564432144165,
                    "y": 0.004798400681465864,
                    "z": 0.002440214157104492
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003199236816726625,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.2815246284008026
                    }
                },
                "velocity": {
                    "x": 7.219426152005326e-06,
                    "y": -1.3700909221370239e-05,
                    "z": 0.00031954862060956657
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3195639439800289e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 2.4867056254151976e-06,
                    "y": -6.905328518769238e-06,
                    "z": -1.0966204172291327e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.191367149353027,
                "transform": {
                    "location": {
                        "x": -185.94789123535156,
                        "y": 4295.53466796875,
                        "z": 373.1151123046875
                    },
                    "rotation": {
                        "roll": 0.24449746310710907,
                        "pitch": 0.1978159248828888,
                        "yaw": -172.82472229003906
                    }
                },
                "velocity": {
                    "x": -8.179159164428711,
                    "y": -0.446164608001709,
                    "z": 0.028183812275528908
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006334828794933856,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1529363291629124e-05,
                    "y": -6.478601790149696e-06,
                    "z": 0.0006333448109216988
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.173906174604781e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0016721589490771294,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.66172790527344
                    }
                },
                "velocity": {
                    "x": 1.975148961719242e-06,
                    "y": -4.6341556299012154e-05,
                    "z": -2.2923550204723142e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3920,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.008260250091553,
                "transform": {
                    "location": {
                        "x": -174.49984741210938,
                        "y": 4309.79345703125,
                        "z": 373.1407470703125
                    },
                    "rotation": {
                        "roll": 0.0005057516973465681,
                        "pitch": -0.10870928317308426,
                        "yaw": -90.07747650146484
                    }
                },
                "velocity": {
                    "x": -0.003077477216720581,
                    "y": -4.0082550048828125,
                    "z": -0.0057079121470451355
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00047742261085659266,
                "transform": {
                    "location": {
                        "x": -130.57835388183594,
                        "y": 4295.037109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2222680002450943,
                        "yaw": 179.72576904296875
                    }
                },
                "velocity": {
                    "x": 1.0931454198725987e-05,
                    "y": -3.005914550158195e-06,
                    "z": 0.0004772879765368998
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00046047213254496455,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": -3.2342225040338235e-06,
                    "y": 4.1437673644395545e-05,
                    "z": 0.0004585924616549164
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00045140503789298236,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.087188684323337e-05,
                    "y": -1.7840196164797817e-07,
                    "z": 0.00045127407065592706
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000962426362093538,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.1342428479110822e-05,
                    "y": -3.1752533686812967e-06,
                    "z": 0.0009623543010093272
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003920300514437258,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 9.35781736188801e-06,
                    "y": -2.9465647912729764e-06,
                    "z": 0.00039190726238302886
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3985656797885895,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "695": {
        "acceleration": [
            -7.361994357779622e-05,
            -0.00028003635816276073,
            -0.006058519706130028
        ],
        "angular_velocity": [
            0.00025983486557379365,
            -0.0004856047744397074,
            4.768522921949625e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            4.794224878423847e-06,
            -7.267598789439944e-07,
            -0.00012793680070899427
        ],
        "speed": 4.848997020677662e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                5.382858034863602e-06,
                -1.315564259130042e-05,
                -6.64035997033352e-06
            ],
            "speed_kmh": 5.647991264168943e-05,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.460334300994873,
                "transform": {
                    "location": {
                        "x": -174.50320434570312,
                        "y": 4341.00537109375,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": 0.0005916218506172299,
                        "pitch": 0.03170573711395264,
                        "yaw": -89.69310760498047
                    }
                },
                "velocity": {
                    "x": 0.031370602548122406,
                    "y": -7.460268497467041,
                    "z": 0.0012991619296371937
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.681928112404421e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 5.199871793593047e-06,
                    "y": -4.138013537158258e-06,
                    "z": 4.634526339941658e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000285326037555933,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 3.810673888438032e-06,
                    "y": -7.83206633059308e-06,
                    "z": -0.0002851930621545762
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.376743793487549,
                "transform": {
                    "location": {
                        "x": -174.49053955078125,
                        "y": 4326.08740234375,
                        "z": 373.1218566894531
                    },
                    "rotation": {
                        "roll": -0.0012512227986007929,
                        "pitch": 0.14977237582206726,
                        "yaw": -90.03659057617188
                    }
                },
                "velocity": {
                    "x": -0.0008077656384557486,
                    "y": -3.3767433166503906,
                    "z": -0.0015186119126155972
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000562604982405901,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 2.0968243916286156e-05,
                    "y": 4.7468252887483686e-05,
                    "z": 0.0005602065939456224
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.06734342128038406,
                "transform": {
                    "location": {
                        "x": -109.93101501464844,
                        "y": 4294.91845703125,
                        "z": 372.8424987792969
                    },
                    "rotation": {
                        "roll": 0.001697875326499343,
                        "pitch": 0.20032943785190582,
                        "yaw": 179.3515625
                    }
                },
                "velocity": {
                    "x": -0.06730259954929352,
                    "y": 0.0015834633959457278,
                    "z": 0.0017288780072703958
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4543867111206055,
                "transform": {
                    "location": {
                        "x": -120.57289123535156,
                        "y": 4294.98046875,
                        "z": 372.9223327636719
                    },
                    "rotation": {
                        "roll": -3.0517610866809264e-05,
                        "pitch": 0.2999272644519806,
                        "yaw": 179.6360626220703
                    }
                },
                "velocity": {
                    "x": -1.4543492794036865,
                    "y": 0.008284743875265121,
                    "z": 0.00633657444268465
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003749871684703976,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0014953608624637127,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.281585693359375
                    }
                },
                "velocity": {
                    "x": 7.067322712828172e-06,
                    "y": -4.525749318418093e-06,
                    "z": 0.0003748932504095137
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00018543953774496913,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 6.523157935589552e-05,
                    "y": -5.117501495988108e-05,
                    "z": 0.0001658727996982634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.019055366516113,
                "transform": {
                    "location": {
                        "x": -187.97476196289062,
                        "y": 4295.43798828125,
                        "z": 373.1220703125
                    },
                    "rotation": {
                        "roll": 0.11008765548467636,
                        "pitch": 0.1883629411458969,
                        "yaw": -178.12733459472656
                    }
                },
                "velocity": {
                    "x": -8.018348693847656,
                    "y": -0.1025903970003128,
                    "z": 0.028454771265387535
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5688863641116768e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 5.382858034863602e-06,
                    "y": -1.315564259130042e-05,
                    "z": -6.64035997033352e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.748994489200413e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0005125999450683594,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.6617431640625
                    }
                },
                "velocity": {
                    "x": 1.794047602743376e-05,
                    "y": -1.7827118426794186e-05,
                    "z": 9.415212116437033e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.148033142089844,
                "transform": {
                    "location": {
                        "x": -174.50108337402344,
                        "y": 4308.7685546875,
                        "z": 373.13909912109375
                    },
                    "rotation": {
                        "roll": 0.0018883056472986937,
                        "pitch": -0.07895015180110931,
                        "yaw": -90.07778930664062
                    }
                },
                "velocity": {
                    "x": -0.009979437105357647,
                    "y": -4.148016929626465,
                    "z": -0.005908183753490448
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.22807306051254272,
                "transform": {
                    "location": {
                        "x": -130.59226989746094,
                        "y": 4295.03662109375,
                        "z": 372.9229736328125
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.22877034544944763,
                        "yaw": 179.70465087890625
                    }
                },
                "velocity": {
                    "x": -0.2280631959438324,
                    "y": 0.0017144629964604974,
                    "z": 0.0012492465320974588
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00043554455623961985,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": -1.2729726222460158e-05,
                    "y": -2.467211197654251e-05,
                    "z": 0.0004346588393673301
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.823229680070654e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.2658536434173584e-05,
                    "y": -2.1793064661324024e-05,
                    "z": 7.40615651011467e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013974569737911224,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.2950971722602844e-05,
                    "y": -8.895711289369501e-06,
                    "z": 0.0013973686145618558
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005225795903243124,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 1.1768787771870848e-05,
                    "y": -1.042628900904674e-05,
                    "z": 0.0005223430343903601
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3980455696582794,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "700": {
        "acceleration": [
            -0.00035639555426314473,
            0.0009093217086046934,
            0.0026396368630230427
        ],
        "angular_velocity": [
            -0.016594523563981056,
            -0.007240242790430784,
            0.00010826245852513239
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            -1.6362480891984887e-05,
            5.2516075811581686e-05,
            0.00011337330943206325
        ],
        "speed": 5.5006081478218075e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.777677976468112e-06,
                2.6812986106961034e-06,
                0.001126676332205534
            ],
            "speed_kmh": 0.004056169372363951,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.301046371459961,
                "transform": {
                    "location": {
                        "x": -174.49476623535156,
                        "y": 4339.1064453125,
                        "z": 373.12127685546875
                    },
                    "rotation": {
                        "roll": 0.0016259400872513652,
                        "pitch": 0.0024315472692251205,
                        "yaw": -89.7708969116211
                    }
                },
                "velocity": {
                    "x": 0.026960114017128944,
                    "y": -7.30099630355835,
                    "z": 0.0012371826451271772
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00021428840409498662,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 9.34075524128275e-06,
                    "y": 1.7348722849419573e-06,
                    "z": 0.00021407769236247987
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006215808680281043,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 2.0137800675001927e-05,
                    "y": 7.39401439204812e-05,
                    "z": -0.0006168388063088059
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.850736618041992,
                "transform": {
                    "location": {
                        "x": -174.49053955078125,
                        "y": 4325.04541015625,
                        "z": 373.12127685546875
                    },
                    "rotation": {
                        "roll": -0.00018311539315618575,
                        "pitch": 0.1852961927652359,
                        "yaw": -90.02300262451172
                    }
                },
                "velocity": {
                    "x": -0.00200663018040359,
                    "y": -4.850736141204834,
                    "z": -0.0016186618013307452
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013518146006390452,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 2.0802877770620398e-05,
                    "y": -1.4976407328504138e-05,
                    "z": 0.0013515715254470706
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4917699098587036,
                "transform": {
                    "location": {
                        "x": -109.99179077148438,
                        "y": 4294.91845703125,
                        "z": 372.84234619140625
                    },
                    "rotation": {
                        "roll": -0.0019836428109556437,
                        "pitch": 0.3356764614582062,
                        "yaw": 179.33612060546875
                    }
                },
                "velocity": {
                    "x": -0.49175238609313965,
                    "y": 0.0035925458651036024,
                    "z": 0.0020779226906597614
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3206844329833984,
                "transform": {
                    "location": {
                        "x": -121.04562377929688,
                        "y": 4294.9833984375,
                        "z": 372.9239807128906
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.3198167681694031,
                        "yaw": 179.64523315429688
                    }
                },
                "velocity": {
                    "x": -2.3206210136413574,
                    "y": 0.014503917656838894,
                    "z": 0.009188775904476643
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011810993310064077,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.281585693359375
                    }
                },
                "velocity": {
                    "x": 9.76845603872789e-06,
                    "y": -3.0152680210449034e-06,
                    "z": 0.0011810550931841135
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00024160421162378043,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -1.4038383596925996e-05,
                    "y": -1.558847179694567e-05,
                    "z": -0.00024069174833130091
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9948344230651855,
                "transform": {
                    "location": {
                        "x": -189.96592712402344,
                        "y": 4295.4140625,
                        "z": 373.12890625
                    },
                    "rotation": {
                        "roll": 0.04367434233427048,
                        "pitch": 0.19741295278072357,
                        "yaw": -179.71090698242188
                    }
                },
                "velocity": {
                    "x": -7.994781970977783,
                    "y": 0.002758219139650464,
                    "z": 0.028860578313469887
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011267137015238404,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.777677976468112e-06,
                    "y": 2.6812986106961034e-06,
                    "z": 0.001126676332205534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00016969977878034115,
                        "pitch": 0.222097247838974,
                        "yaw": 179.66177368164062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.794960021972656,
                "transform": {
                    "location": {
                        "x": -174.5028839111328,
                        "y": 4307.67822265625,
                        "z": 373.13714599609375
                    },
                    "rotation": {
                        "roll": 0.00239785248413682,
                        "pitch": -0.0283247921615839,
                        "yaw": -90.10433197021484
                    }
                },
                "velocity": {
                    "x": -0.011876231990754604,
                    "y": -4.794941425323486,
                    "z": -0.006105565931648016
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9077452421188354,
                "transform": {
                    "location": {
                        "x": -130.73350524902344,
                        "y": 4295.0380859375,
                        "z": 372.9235534667969
                    },
                    "rotation": {
                        "roll": 0.00026454078033566475,
                        "pitch": 0.23940494656562805,
                        "yaw": 179.6876983642578
                    }
                },
                "velocity": {
                    "x": -0.9077230095863342,
                    "y": 0.005905287805944681,
                    "z": 0.002332286676391959
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008254579734057188,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": 3.208704129065154e-06,
                    "y": 1.1949718100368045e-05,
                    "z": 0.0008253652486018836
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008110533817671239,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 6.991885584284319e-06,
                    "y": 2.1410394765553065e-05,
                    "z": 0.000810740573797375
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012552557745948434,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 1.1462419934105128e-05,
                    "y": 1.3051181667833589e-05,
                    "z": 0.0012551355175673962
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008529800688847899,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 9.991340448323172e-06,
                    "y": -1.4644120710727293e-05,
                    "z": 0.0008527958416379988
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3952866792678833,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "705": {
        "acceleration": [
            0.0008537843823432922,
            -0.00029352144338190556,
            -0.0052228402346372604
        ],
        "angular_velocity": [
            -0.018410364165902138,
            0.0053228833712637424,
            0.00010923566878773272
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            2.3295058781513944e-05,
            5.740935739595443e-05,
            -0.00024413624487351626
        ],
        "speed": 6.19555815100675e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1867582543345634e-05,
                4.404148057801649e-06,
                0.0006569280521944165
            ],
            "speed_kmh": 0.0023653799980699777,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.535615921020508,
                "transform": {
                    "location": {
                        "x": -174.48983764648438,
                        "y": 4337.52197265625,
                        "z": 373.1216735839844
                    },
                    "rotation": {
                        "roll": 0.0011338818585500121,
                        "pitch": -0.0507483035326004,
                        "yaw": -89.83047485351562
                    }
                },
                "velocity": {
                    "x": 0.01024047564715147,
                    "y": -4.535603046417236,
                    "z": -0.003703756257891655
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002796328626573086,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.258355253725313e-06,
                    "y": -2.2738127881893888e-05,
                    "z": 0.0002786123368423432
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001544644619571045,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 2.371944356127642e-05,
                    "y": -7.024577644187957e-05,
                    "z": -0.00013550714356824756
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.508702754974365,
                "transform": {
                    "location": {
                        "x": -174.49053955078125,
                        "y": 4323.7177734375,
                        "z": 373.12060546875
                    },
                    "rotation": {
                        "roll": 0.0002677316660992801,
                        "pitch": 0.08159343898296356,
                        "yaw": -90.02542114257812
                    }
                },
                "velocity": {
                    "x": -0.002302120439708233,
                    "y": -5.508699893951416,
                    "z": -0.005077705252915621
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010703062871471047,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 1.813788003346417e-05,
                    "y": 5.106315711600473e-06,
                    "z": 0.0010701403953135014
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.384850025177002,
                "transform": {
                    "location": {
                        "x": -110.22874450683594,
                        "y": 4294.92041015625,
                        "z": 372.8426208496094
                    },
                    "rotation": {
                        "roll": -0.005004882346838713,
                        "pitch": 0.507339596748352,
                        "yaw": 179.353271484375
                    }
                },
                "velocity": {
                    "x": -1.384813666343689,
                    "y": 0.00938599556684494,
                    "z": 0.0035495185293257236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0017156120156869292,
                "transform": {
                    "location": {
                        "x": -121.44671630859375,
                        "y": 4294.9853515625,
                        "z": 372.9278869628906
                    },
                    "rotation": {
                        "roll": 0.0002758541377261281,
                        "pitch": 0.055720679461956024,
                        "yaw": 179.54672241210938
                    }
                },
                "velocity": {
                    "x": -0.0015278795035555959,
                    "y": -0.0002486987505108118,
                    "z": 0.0007396333967335522
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004303872992750257,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": -0.20065045356750488,
                        "yaw": -0.2816161811351776
                    }
                },
                "velocity": {
                    "x": 7.494464171031723e-06,
                    "y": 1.95311768038664e-05,
                    "z": 0.000429878564318642
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00044682566658593714,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 1.3390741514740512e-05,
                    "y": -5.7914337958209217e-05,
                    "z": -0.00044285415788181126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.117496490478516,
                "transform": {
                    "location": {
                        "x": -191.98703002929688,
                        "y": 4295.41552734375,
                        "z": 373.1358642578125
                    },
                    "rotation": {
                        "roll": 0.01506124623119831,
                        "pitch": 0.2031024992465973,
                        "yaw": 179.8568572998047
                    }
                },
                "velocity": {
                    "x": -8.11739730834961,
                    "y": 0.02789994701743126,
                    "z": 0.028928078711032867
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006570499972440302,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1867582543345634e-05,
                    "y": 4.404148057801649e-06,
                    "z": 0.0006569280521944165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8266451358795166,
                "transform": {
                    "location": {
                        "x": -221.14320373535156,
                        "y": 4295.67333984375,
                        "z": 373.28863525390625
                    },
                    "rotation": {
                        "roll": -0.0028686521109193563,
                        "pitch": 0.28906041383743286,
                        "yaw": 179.68240356445312
                    }
                },
                "velocity": {
                    "x": -0.8266244530677795,
                    "y": -0.005166045855730772,
                    "z": 0.002743291901424527
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.335908889770508,
                "transform": {
                    "location": {
                        "x": -174.5057830810547,
                        "y": 4306.37841796875,
                        "z": 373.1355895996094
                    },
                    "rotation": {
                        "roll": 0.001237731659784913,
                        "pitch": -0.024691132828593254,
                        "yaw": -90.22698974609375
                    }
                },
                "velocity": {
                    "x": -0.013795056380331516,
                    "y": -5.3358869552612305,
                    "z": -0.006792325992137194
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6581822633743286,
                "transform": {
                    "location": {
                        "x": -131.05984497070312,
                        "y": 4295.0390625,
                        "z": 372.9246826171875
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.242902010679245,
                        "yaw": 179.63751220703125
                    }
                },
                "velocity": {
                    "x": -1.6581355333328247,
                    "y": 0.010835783556103706,
                    "z": 0.006126203574240208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007595833158120513,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": 9.139477697317488e-06,
                    "y": -2.4535398551961407e-05,
                    "z": 0.0007591319154016674
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.771404878236353e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 5.41269764653407e-06,
                    "y": -8.483466018560648e-08,
                    "z": -6.749731983290985e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001053174608387053,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.2038811296224594,
                        "yaw": 179.30274963378906
                    }
                },
                "velocity": {
                    "x": 8.094981239992194e-06,
                    "y": -4.120273388252826e-06,
                    "z": 0.0010531354928389192
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005700822803191841,
                "transform": {
                    "location": {
                        "x": -140.89500427246094,
                        "y": 4295.0966796875,
                        "z": 372.9627990722656
                    },
                    "rotation": {
                        "roll": 0.0010709950001910329,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.95968627929688
                    }
                },
                "velocity": {
                    "x": 1.018859438772779e-05,
                    "y": -6.756728907930665e-06,
                    "z": 0.000569951138459146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39699500799179077,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "710": {
        "acceleration": [
            -3.685206684167497e-05,
            9.405857417732477e-05,
            -0.0120918657630682
        ],
        "angular_velocity": [
            0.0015495091211050749,
            -0.000864725501742214,
            4.505010292632505e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            3.7151573906157864e-06,
            1.1007487046299502e-06,
            -8.901843830244616e-05
        ],
        "speed": 3.87479575562269e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.6109830539789982e-05,
                2.6814232114702463e-06,
                0.0019021577900275588
            ],
            "speed_kmh": 0.0068480204317624156,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012423802400007844,
                "transform": {
                    "location": {
                        "x": -174.48843383789062,
                        "y": 4337.04638671875,
                        "z": 373.1220703125
                    },
                    "rotation": {
                        "roll": 0.00011928840103792027,
                        "pitch": -0.11215169727802277,
                        "yaw": -89.85359191894531
                    }
                },
                "velocity": {
                    "x": 3.427147021284327e-05,
                    "y": 4.928189082420431e-05,
                    "z": -0.0012409292394295335
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00027786727878265083,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 2.5741755962371826e-06,
                    "y": -1.5561879990855232e-05,
                    "z": 0.0002774192253127694
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001463167427573353,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -8.252561201516073e-06,
                    "y": 1.6845613572513685e-05,
                    "z": 0.00014510929759126157
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.845661640167236,
                "transform": {
                    "location": {
                        "x": -174.4910888671875,
                        "y": 4322.244140625,
                        "z": 373.1194763183594
                    },
                    "rotation": {
                        "roll": 0.0005829096771776676,
                        "pitch": 0.16604872047901154,
                        "yaw": -90.02962493896484
                    }
                },
                "velocity": {
                    "x": -0.004761206917464733,
                    "y": -6.845657825469971,
                    "z": -0.005379734095185995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009762732079252601,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": -8.364542736671865e-06,
                    "y": -2.7708862035069615e-05,
                    "z": 0.0009758440428413451
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1595332622528076,
                "transform": {
                    "location": {
                        "x": -110.6688232421875,
                        "y": 4294.9228515625,
                        "z": 372.8441467285156
                    },
                    "rotation": {
                        "roll": -0.006317137740552425,
                        "pitch": 0.5659767389297485,
                        "yaw": 179.397705078125
                    }
                },
                "velocity": {
                    "x": -2.159475088119507,
                    "y": 0.013791952282190323,
                    "z": 0.00784350372850895
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008470477187074721,
                "transform": {
                    "location": {
                        "x": -121.44734191894531,
                        "y": 4294.9853515625,
                        "z": 372.92706298828125
                    },
                    "rotation": {
                        "roll": 0.00030008022440597415,
                        "pitch": 0.15165750682353973,
                        "yaw": 179.54673767089844
                    }
                },
                "velocity": {
                    "x": 0.0006058088620193303,
                    "y": 4.845691364607774e-05,
                    "z": 0.0005900316755287349
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001072235987521708,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.2816162109375
                    }
                },
                "velocity": {
                    "x": 9.161196430795826e-06,
                    "y": 7.404904408758739e-06,
                    "z": 0.0010721712606027722
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000452364853117615,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -4.038773568026954e-06,
                    "y": -1.0627056326484308e-05,
                    "z": -0.0004522219533100724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.673385620117188,
                "transform": {
                    "location": {
                        "x": -194.0653839111328,
                        "y": 4295.4228515625,
                        "z": 373.1430358886719
                    },
                    "rotation": {
                        "roll": 0.003597383853048086,
                        "pitch": 0.2347194403409958,
                        "yaw": 179.77708435058594
                    }
                },
                "velocity": {
                    "x": -8.673270225524902,
                    "y": 0.03341490030288696,
                    "z": 0.0297976303845644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0019022278720512986,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.6109830539789982e-05,
                    "y": 2.6814232114702463e-06,
                    "z": 0.0019021577900275588
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6842612028121948,
                "transform": {
                    "location": {
                        "x": -221.4727325439453,
                        "y": 4295.67236328125,
                        "z": 373.2896728515625
                    },
                    "rotation": {
                        "roll": -0.0028991694562137127,
                        "pitch": 0.31556156277656555,
                        "yaw": 179.8055877685547
                    }
                },
                "velocity": {
                    "x": -1.6842141151428223,
                    "y": -0.011061904951930046,
                    "z": 0.006047496572136879
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.946624279022217,
                "transform": {
                    "location": {
                        "x": -174.50991821289062,
                        "y": 4304.98486328125,
                        "z": 373.1336669921875
                    },
                    "rotation": {
                        "roll": 0.00011029855522792786,
                        "pitch": -0.029089774936437607,
                        "yaw": -90.19405364990234
                    }
                },
                "velocity": {
                    "x": -0.016172023490071297,
                    "y": -5.946596145629883,
                    "z": -0.008256616070866585
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9691706895828247,
                "transform": {
                    "location": {
                        "x": -131.55616760253906,
                        "y": 4295.04296875,
                        "z": 372.92669677734375
                    },
                    "rotation": {
                        "roll": 0.00011540047125890851,
                        "pitch": 0.23470577597618103,
                        "yaw": 179.63658142089844
                    }
                },
                "velocity": {
                    "x": -1.9691194295883179,
                    "y": 0.012510471977293491,
                    "z": 0.0067326161079108715
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00028150485013611615,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": 6.925240086275153e-06,
                    "y": 1.2061688721587416e-05,
                    "z": -0.00028116104658693075
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6403460904257372e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": -1.1887401285548549e-07,
                    "y": 1.2715423508780077e-05,
                    "z": -1.0362306056777015e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006137943128123879,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9944152832031
                    },
                    "rotation": {
                        "roll": -0.0016784669132903218,
                        "pitch": 0.20683860778808594,
                        "yaw": 179.30320739746094
                    }
                },
                "velocity": {
                    "x": 6.325915364868706e-06,
                    "y": -2.170290463254787e-05,
                    "z": 0.000613377895206213
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4768228530883789,
                "transform": {
                    "location": {
                        "x": -140.943359375,
                        "y": 4295.0966796875,
                        "z": 372.96295166015625
                    },
                    "rotation": {
                        "roll": 0.0014237004797905684,
                        "pitch": 0.22648906707763672,
                        "yaw": 179.96018981933594
                    }
                },
                "velocity": {
                    "x": -0.4767993092536926,
                    "y": 0.00416435906663537,
                    "z": 0.0022575855255126953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39736559987068176,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "715": {
        "acceleration": [
            -0.0004594727943185717,
            0.0010566185228526592,
            0.001843139878474176
        ],
        "angular_velocity": [
            -0.019265644252300262,
            -0.008541718125343323,
            0.00011930654727621004
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            -2.0490771930781193e-05,
            7.063145312713459e-05,
            0.00013630100875161588
        ],
        "speed": 7.354368705177829e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.801797205000184e-06,
                -9.14680367714027e-06,
                0.0005312339053489268
            ],
            "speed_kmh": 0.0019130509796237637,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.875214159488678,
                "transform": {
                    "location": {
                        "x": -174.4882049560547,
                        "y": 4336.92919921875,
                        "z": 373.1211242675781
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": -0.008640188723802567,
                        "yaw": -89.88973999023438
                    }
                },
                "velocity": {
                    "x": 0.0008298235479742289,
                    "y": -0.8752129673957825,
                    "z": -0.0011421298841014504
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002626202185638249,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.0949267865216825e-06,
                    "y": -1.5203491443571693e-07,
                    "z": 0.00026252432144246995
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00034111630520783365,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -9.394510925631039e-06,
                    "y": 4.194388020550832e-05,
                    "z": 0.00033839736715890467
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.329163074493408,
                "transform": {
                    "location": {
                        "x": -174.49281311035156,
                        "y": 4320.546875,
                        "z": 373.11773681640625
                    },
                    "rotation": {
                        "roll": -0.0013732920633628964,
                        "pitch": -0.04718294367194176,
                        "yaw": -89.85903930664062
                    }
                },
                "velocity": {
                    "x": -0.00472321966663003,
                    "y": -6.329158782958984,
                    "z": -0.005486135371029377
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001340603455901146,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 1.4320425179903395e-05,
                    "y": -7.13979670763365e-06,
                    "z": 0.0013405079953372478
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3640564680099487,
                "transform": {
                    "location": {
                        "x": -111.21320343017578,
                        "y": 4294.92724609375,
                        "z": 372.84722900390625
                    },
                    "rotation": {
                        "roll": -0.002471923828125,
                        "pitch": 0.2898595631122589,
                        "yaw": 179.47584533691406
                    }
                },
                "velocity": {
                    "x": -1.364013433456421,
                    "y": 0.00824742391705513,
                    "z": 0.007025184575468302
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004068563284818083,
                "transform": {
                    "location": {
                        "x": -121.4477310180664,
                        "y": 4294.9853515625,
                        "z": 372.9266052246094
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.20427729189395905,
                        "yaw": 179.54673767089844
                    }
                },
                "velocity": {
                    "x": 0.00016917078755795956,
                    "y": -0.0001829128887038678,
                    "z": 0.00032164607546292245
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006598617183044553,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.2816162109375
                    }
                },
                "velocity": {
                    "x": 1.0755657967820298e-05,
                    "y": -8.582758255215595e-07,
                    "z": 0.0006597734754905105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8663853047182783e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -4.4737384996551555e-06,
                    "y": -1.539197728561703e-05,
                    "z": 3.5184744774596766e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.8646240234375,
                "transform": {
                    "location": {
                        "x": -196.3865509033203,
                        "y": 4295.43310546875,
                        "z": 373.1509704589844
                    },
                    "rotation": {
                        "roll": 0.0027908380143344402,
                        "pitch": 0.2746213972568512,
                        "yaw": 179.73245239257812
                    }
                },
                "velocity": {
                    "x": -9.8644380569458,
                    "y": 0.05017709732055664,
                    "z": 0.033809736371040344
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005314030568115413,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.801797205000184e-06,
                    "y": -9.14680367714027e-06,
                    "z": 0.0005312339053489268
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7295219898223877,
                "transform": {
                    "location": {
                        "x": -222.02023315429688,
                        "y": 4295.669921875,
                        "z": 373.2915954589844
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 0.3305265009403229,
                        "yaw": 179.95181274414062
                    }
                },
                "velocity": {
                    "x": -2.729445695877075,
                    "y": -0.01760900393128395,
                    "z": 0.010319986380636692
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.31270980834961,
                "transform": {
                    "location": {
                        "x": -174.51795959472656,
                        "y": 4303.130859375,
                        "z": 373.1297302246094
                    },
                    "rotation": {
                        "roll": 0.005275072064250708,
                        "pitch": 0.12195301800966263,
                        "yaw": -90.26422119140625
                    }
                },
                "velocity": {
                    "x": -0.04595651477575302,
                    "y": -8.312576293945312,
                    "z": -0.010567636229097843
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00034273191704414785,
                "transform": {
                    "location": {
                        "x": -131.65139770507812,
                        "y": 4295.04345703125,
                        "z": 372.9273986816406
                    },
                    "rotation": {
                        "roll": 0.0002956287353299558,
                        "pitch": 0.19206491112709045,
                        "yaw": 179.63592529296875
                    }
                },
                "velocity": {
                    "x": 4.243634612066671e-05,
                    "y": 6.834817759227008e-05,
                    "z": -0.00033315588370896876
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008489314350299537,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": 1.4499798453471158e-05,
                    "y": -3.3561832424311433e-06,
                    "z": 0.0008488009916618466
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003971965634264052,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.0499023119336925e-05,
                    "y": -3.809822430866916e-07,
                    "z": 0.0003970575926359743
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2404533663357142e-05,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9944152832031
                    },
                    "rotation": {
                        "roll": -0.0016784669132903218,
                        "pitch": 0.20683860778808594,
                        "yaw": 179.30320739746094
                    }
                },
                "velocity": {
                    "x": 6.947517249500379e-06,
                    "y": -1.3210926681495039e-06,
                    "z": -1.0191131877945736e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2007287740707397,
                "transform": {
                    "location": {
                        "x": -141.1574249267578,
                        "y": 4295.09716796875,
                        "z": 372.9637756347656
                    },
                    "rotation": {
                        "roll": 0.0015953393885865808,
                        "pitch": 0.23346951603889465,
                        "yaw": 179.92987060546875
                    }
                },
                "velocity": {
                    "x": -1.2007017135620117,
                    "y": 0.007553760427981615,
                    "z": 0.0028163909446448088
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3945731818675995,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "720": {
        "acceleration": [
            -2.9292699764482677e-05,
            3.336947338539176e-05,
            -0.0009221723303198814
        ],
        "angular_velocity": [
            -9.877517732093111e-05,
            -0.0011399179929867387,
            4.9001620936905965e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            6.920099053786544e-07,
            -1.7844093918029102e-06,
            -0.0006982540362514555
        ],
        "speed": 1.9138951347178366e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.06296683952678e-05,
                -3.3599324069655268e-06,
                0.0002912681666202843
            ],
            "speed_kmh": 0.001049333147058071,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5910667181015015,
                "transform": {
                    "location": {
                        "x": -174.4875030517578,
                        "y": 4336.6181640625,
                        "z": 373.1209411621094
                    },
                    "rotation": {
                        "roll": 9.039786527864635e-05,
                        "pitch": 0.01291588693857193,
                        "yaw": -89.97405242919922
                    }
                },
                "velocity": {
                    "x": 0.00015891758084762841,
                    "y": -1.5910660028457642,
                    "z": -0.0014297293964773417
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001882649667095393,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": -3.287456820544321e-06,
                    "y": 3.4150236842833692e-06,
                    "z": 0.00018820527475327253
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001379732566419989,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 8.98972120921826e-06,
                    "y": 0.00013580075756181031,
                    "z": 2.2670654288958758e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.9044575691223145,
                "transform": {
                    "location": {
                        "x": -174.4938201904297,
                        "y": 4319.11669921875,
                        "z": 373.11614990234375
                    },
                    "rotation": {
                        "roll": -0.0065612937323749065,
                        "pitch": -0.2390156239271164,
                        "yaw": -89.85379028320312
                    }
                },
                "velocity": {
                    "x": 0.00420666066929698,
                    "y": -4.90444278717041,
                    "z": -0.011329488828778267
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007789944065734744,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 1.09242273538257e-05,
                    "y": 9.178460231851204e-07,
                    "z": 0.0007789172814227641
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004419575911015272,
                "transform": {
                    "location": {
                        "x": -111.23929595947266,
                        "y": 4294.92724609375,
                        "z": 372.8492126464844
                    },
                    "rotation": {
                        "roll": 0.0027632350102066994,
                        "pitch": -0.21538999676704407,
                        "yaw": 179.45870971679688
                    }
                },
                "velocity": {
                    "x": 0.004315279424190521,
                    "y": -2.322411091881804e-05,
                    "z": 0.0009541869512759149
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006173428264446557,
                "transform": {
                    "location": {
                        "x": -121.44789123535156,
                        "y": 4294.9853515625,
                        "z": 372.9264831542969
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.2195086032152176,
                        "yaw": 179.54673767089844
                    }
                },
                "velocity": {
                    "x": 5.5968237575143576e-05,
                    "y": -1.9096312826150097e-05,
                    "z": 0.000614503922406584
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00017215310072060674,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -0.20073924958705902,
                        "yaw": -0.2816466987133026
                    }
                },
                "velocity": {
                    "x": 8.588694072386716e-06,
                    "y": 1.5660712961107492e-05,
                    "z": 0.00017122401914093643
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00023908338334877044,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 1.8174200704379473e-06,
                    "y": 3.551593908923678e-05,
                    "z": 0.00023642372980248183
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.033276557922363,
                "transform": {
                    "location": {
                        "x": -199.0047607421875,
                        "y": 4295.4462890625,
                        "z": 373.1602783203125
                    },
                    "rotation": {
                        "roll": 0.0014364079106599092,
                        "pitch": 0.28541994094848633,
                        "yaw": 179.7086944580078
                    }
                },
                "velocity": {
                    "x": -11.033069610595703,
                    "y": 0.05577605217695236,
                    "z": 0.03822439908981323
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00029148143948987126,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.06296683952678e-05,
                    "y": -3.3599324069655268e-06,
                    "z": 0.0002912681666202843
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.124699115753174,
                "transform": {
                    "location": {
                        "x": -222.8846893310547,
                        "y": 4295.66552734375,
                        "z": 373.294677734375
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.3641720116138458,
                        "yaw": -179.88490295410156
                    }
                },
                "velocity": {
                    "x": -4.124573707580566,
                    "y": -0.028244096785783768,
                    "z": 0.015462417155504227
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.12279224395752,
                "transform": {
                    "location": {
                        "x": -174.5293731689453,
                        "y": 4301.046875,
                        "z": 373.12884521484375
                    },
                    "rotation": {
                        "roll": 0.0010025370866060257,
                        "pitch": -0.016720302402973175,
                        "yaw": -90.2984619140625
                    }
                },
                "velocity": {
                    "x": -0.04577071964740753,
                    "y": -8.122661590576172,
                    "z": -0.004806289449334145
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.572813046863303e-05,
                "transform": {
                    "location": {
                        "x": -131.6515655517578,
                        "y": 4295.04345703125,
                        "z": 372.92718505859375
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": 0.2202189415693283,
                        "yaw": 179.63592529296875
                    }
                },
                "velocity": {
                    "x": 1.791343129298184e-05,
                    "y": 5.7326153182657436e-05,
                    "z": 4.612559496308677e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006194390589371324,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": 1.166813035524683e-05,
                    "y": -1.5861531892369385e-06,
                    "z": 0.0006193271256051958
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00030654497095383704,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.3566538655140903e-05,
                    "y": -2.1056042896816507e-05,
                    "z": 0.0003055199049413204
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007819650927558541,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9944152832031
                    },
                    "rotation": {
                        "roll": -0.0016784669132903218,
                        "pitch": 0.20683860778808594,
                        "yaw": 179.30320739746094
                    }
                },
                "velocity": {
                    "x": 1.4194250070431735e-05,
                    "y": -3.831222056760453e-05,
                    "z": 0.000780896982178092
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9433096647262573,
                "transform": {
                    "location": {
                        "x": -141.55296325683594,
                        "y": 4295.09912109375,
                        "z": 372.9652404785156
                    },
                    "rotation": {
                        "roll": 0.0014186331536620855,
                        "pitch": 0.23337389528751373,
                        "yaw": 179.85630798339844
                    }
                },
                "velocity": {
                    "x": -1.9432624578475952,
                    "y": 0.011889965273439884,
                    "z": 0.006493911612778902
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39485129714012146,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "725": {
        "acceleration": [
            0.0001798488083295524,
            0.0002245111536467448,
            0.01651557721197605
        ],
        "angular_velocity": [
            0.0005689127719961107,
            -0.0003484246844891459,
            4.110706504434347e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            5.448013325803913e-06,
            -1.85225474069739e-06,
            -1.1046475265175104e-05
        ],
        "speed": 5.754276394349942e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3535394828068092e-05,
                2.1768455553683452e-05,
                0.0012494910042732954
            ],
            "speed_kmh": 0.00449911408575064,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4491429328918457,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4336.10888671875,
                        "z": 373.120849609375
                    },
                    "rotation": {
                        "roll": 0.00023136472736950964,
                        "pitch": 0.01282709464430809,
                        "yaw": -89.93545532226562
                    }
                },
                "velocity": {
                    "x": 0.0021302304230630398,
                    "y": -2.449141263961792,
                    "z": -0.0017523574642837048
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00025893998099491,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 8.81604864844121e-06,
                    "y": 1.4108569530435489e-06,
                    "z": 0.0002587860217317939
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00022378248104359955,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.0302439477527514e-05,
                    "y": -5.072199564892799e-05,
                    "z": 0.0002177148126065731
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.960000514984131,
                "transform": {
                    "location": {
                        "x": -174.493896484375,
                        "y": 4317.947265625,
                        "z": 373.114990234375
                    },
                    "rotation": {
                        "roll": -0.0003662127710413188,
                        "pitch": -0.10311535745859146,
                        "yaw": -89.9118881225586
                    }
                },
                "velocity": {
                    "x": 0.0014064607676118612,
                    "y": -4.959996700286865,
                    "z": -0.006214008200913668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013471224810928106,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.247802734375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2221655547618866,
                        "yaw": 0.0774540826678276
                    }
                },
                "velocity": {
                    "x": 8.034705842874246e-07,
                    "y": 1.0057061444967985e-05,
                    "z": 0.0013470847625285387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002886739792302251,
                "transform": {
                    "location": {
                        "x": -111.24124908447266,
                        "y": 4294.92724609375,
                        "z": 372.84820556640625
                    },
                    "rotation": {
                        "roll": 0.0006532115512527525,
                        "pitch": 0.06673094630241394,
                        "yaw": 179.45870971679688
                    }
                },
                "velocity": {
                    "x": 0.002411308465525508,
                    "y": 6.908254727022722e-05,
                    "z": 0.001585586927831173
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004784305638168007,
                "transform": {
                    "location": {
                        "x": -121.44789123535156,
                        "y": 4294.9853515625,
                        "z": 372.9264221191406
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": 0.22480882704257965,
                        "yaw": 179.54673767089844
                    }
                },
                "velocity": {
                    "x": 3.47586719726678e-05,
                    "y": -1.3471016245603096e-05,
                    "z": 0.000476976070785895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009134798310697079,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": -0.20095781981945038,
                        "yaw": -0.2816466987133026
                    }
                },
                "velocity": {
                    "x": 4.645064564101631e-06,
                    "y": 5.632972261082614e-06,
                    "z": 0.0009134506108239293
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00027407289599068463,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -3.2540279789827764e-05,
                    "y": 2.4932605811045505e-06,
                    "z": 0.00027212288114242256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.006447792053223,
                "transform": {
                    "location": {
                        "x": -201.8279571533203,
                        "y": 4295.46142578125,
                        "z": 373.1708984375
                    },
                    "rotation": {
                        "roll": 0.0007113564643077552,
                        "pitch": 0.22845615446567535,
                        "yaw": 179.70008850097656
                    }
                },
                "velocity": {
                    "x": -11.006213188171387,
                    "y": 0.05924569070339203,
                    "z": 0.04076271131634712
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012497539864853024,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3535394828068092e-05,
                    "y": 2.1768455553683452e-05,
                    "z": 0.0012494910042732954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.30291223526001,
                "transform": {
                    "location": {
                        "x": -224.08163452148438,
                        "y": 4295.65869140625,
                        "z": 373.2995910644531
                    },
                    "rotation": {
                        "roll": 0.0002324964734725654,
                        "pitch": 0.36034709215164185,
                        "yaw": -179.7439422607422
                    }
                },
                "velocity": {
                    "x": -5.302735328674316,
                    "y": -0.037810731679201126,
                    "z": 0.021070966497063637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.820959568023682,
                "transform": {
                    "location": {
                        "x": -174.5402374267578,
                        "y": 4299.07568359375,
                        "z": 373.127685546875
                    },
                    "rotation": {
                        "roll": 0.027527740225195885,
                        "pitch": -0.037531886249780655,
                        "yaw": -90.32445526123047
                    }
                },
                "velocity": {
                    "x": -0.03721323981881142,
                    "y": -7.820868968963623,
                    "z": -0.0055120657198131084
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012051885714754462,
                "transform": {
                    "location": {
                        "x": -131.6515655517578,
                        "y": 4295.04345703125,
                        "z": 372.9269714355469
                    },
                    "rotation": {
                        "roll": 0.0005530016496777534,
                        "pitch": 0.22057411074638367,
                        "yaw": 179.63592529296875
                    }
                },
                "velocity": {
                    "x": 7.786377864249516e-06,
                    "y": -9.445411706110463e-05,
                    "z": -0.0012014562962576747
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008504196302965283,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": 1.4719962564413436e-05,
                    "y": -1.503701787441969e-05,
                    "z": 0.0008501592674292624
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003065879864152521,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.261625402548816e-05,
                    "y": 3.35269703555241e-07,
                    "z": 0.0003063281183131039
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004335736157372594,
                "transform": {
                    "location": {
                        "x": -150.93319702148438,
                        "y": 4295.1572265625,
                        "z": 372.9944152832031
                    },
                    "rotation": {
                        "roll": -0.0016784669132903218,
                        "pitch": 0.20683860778808594,
                        "yaw": 179.30320739746094
                    }
                },
                "velocity": {
                    "x": 1.0132454008271452e-05,
                    "y": 2.982975092891138e-05,
                    "z": 0.00043242756510153413
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.108077883720398,
                "transform": {
                    "location": {
                        "x": -142.05772399902344,
                        "y": 4295.1015625,
                        "z": 372.9672546386719
                    },
                    "rotation": {
                        "roll": 0.00015500481822527945,
                        "pitch": 0.20880569517612457,
                        "yaw": 179.7329559326172
                    }
                },
                "velocity": {
                    "x": -1.1080265045166016,
                    "y": 0.009919636882841587,
                    "z": 0.003921060357242823
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39713194966316223,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "730": {
        "acceleration": [
            -2.2455315047409385e-05,
            -0.00217207008972764,
            0.004217910580337048
        ],
        "angular_velocity": [
            0.016032198444008827,
            -0.005786930210888386,
            -5.460778083943296e-06
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            -1.1904165148735046e-05,
            -3.879108771798201e-05,
            2.8525546440505423e-05
        ],
        "speed": 4.0576565086667115e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.571574082656298e-06,
                1.273287216463359e-05,
                0.00044754816917702556
            ],
            "speed_kmh": 0.0016121936106367743,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1695096492767334,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4335.40283203125,
                        "z": 373.1208190917969
                    },
                    "rotation": {
                        "roll": 0.0001302700984524563,
                        "pitch": 0.007895697839558125,
                        "yaw": -89.93728637695312
                    }
                },
                "velocity": {
                    "x": 0.003437093924731016,
                    "y": -3.1695072650909424,
                    "z": -0.001771097187884152
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011866230488521978,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.0321557359420694e-06,
                    "y": -3.7940910146971873e-07,
                    "z": 0.00011845314293168485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00021345677669160068,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 3.350663973833434e-05,
                    "y": -6.24260792392306e-05,
                    "z": 0.00020135562226641923
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.0836710929870605,
                "transform": {
                    "location": {
                        "x": -174.49398803710938,
                        "y": 4316.65185546875,
                        "z": 373.114013671875
                    },
                    "rotation": {
                        "roll": 2.2928503312868997e-05,
                        "pitch": -0.05846641585230827,
                        "yaw": -89.97823333740234
                    }
                },
                "velocity": {
                    "x": -0.0011599066201597452,
                    "y": -5.083667278289795,
                    "z": -0.005804004613310099
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3576645869761705e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 1.0441317499498837e-05,
                    "y": 6.384863354469417e-06,
                    "z": -5.876880550204078e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0006869510398246348,
                "transform": {
                    "location": {
                        "x": -111.2421875,
                        "y": 4294.92724609375,
                        "z": 372.8478088378906
                    },
                    "rotation": {
                        "roll": 0.0013277640100568533,
                        "pitch": 0.16458706557750702,
                        "yaw": 179.45872497558594
                    }
                },
                "velocity": {
                    "x": 0.0006616014870814979,
                    "y": -0.00014926692529115826,
                    "z": 0.0001091081285267137
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.05143415182828903,
                "transform": {
                    "location": {
                        "x": -121.45054626464844,
                        "y": 4294.9853515625,
                        "z": 372.9263916015625
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.23036177456378937,
                        "yaw": 179.5469970703125
                    }
                },
                "velocity": {
                    "x": -0.051429953426122665,
                    "y": 0.0005128714838065207,
                    "z": 0.00041090964805334806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.17017914110329e-05,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.281646728515625
                    }
                },
                "velocity": {
                    "x": 4.936754521622788e-06,
                    "y": 2.935246357083088e-07,
                    "z": -2.1130785171408206e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.383522461168468e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -2.9811522836098447e-05,
                    "y": -3.56949312845245e-05,
                    "z": -5.7347933761775494e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.204974174499512,
                "transform": {
                    "location": {
                        "x": -204.35116577148438,
                        "y": 4295.47509765625,
                        "z": 373.1809997558594
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.1280660331249237,
                        "yaw": 179.6907501220703
                    }
                },
                "velocity": {
                    "x": -9.204763412475586,
                    "y": 0.051409680396318436,
                    "z": 0.03515291213989258
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00044783155317418277,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.571574082656298e-06,
                    "y": 1.273287216463359e-05,
                    "z": 0.00044754816917702556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.76486349105835,
                "transform": {
                    "location": {
                        "x": -225.42257690429688,
                        "y": 4295.6533203125,
                        "z": 373.3052673339844
                    },
                    "rotation": {
                        "roll": 0.00893417838960886,
                        "pitch": 0.30015265941619873,
                        "yaw": -179.89181518554688
                    }
                },
                "velocity": {
                    "x": -5.764819622039795,
                    "y": -0.003937182482331991,
                    "z": 0.022138575091958046
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.178487777709961,
                "transform": {
                    "location": {
                        "x": -174.55062866210938,
                        "y": 4297.06884765625,
                        "z": 373.1264343261719
                    },
                    "rotation": {
                        "roll": 0.08361350744962692,
                        "pitch": -0.016781773418188095,
                        "yaw": -90.26470947265625
                    }
                },
                "velocity": {
                    "x": -0.03482073172926903,
                    "y": -8.178411483764648,
                    "z": -0.006234483793377876
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.45266783237457275,
                "transform": {
                    "location": {
                        "x": -131.69992065429688,
                        "y": 4295.04296875,
                        "z": 372.9272155761719
                    },
                    "rotation": {
                        "roll": 3.936265056836419e-05,
                        "pitch": 0.23269769549369812,
                        "yaw": 179.6093292236328
                    }
                },
                "velocity": {
                    "x": -0.45265066623687744,
                    "y": 0.0034360860008746386,
                    "z": 0.0019365310436114669
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000871349941007793,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": -2.1959729565423913e-05,
                    "y": 2.351389230170753e-05,
                    "z": 0.0008707557572051883
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00035389227559790015,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 9.606964340491686e-06,
                    "y": 5.140504413247982e-07,
                    "z": 0.0003537614829838276
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4451987147331238,
                "transform": {
                    "location": {
                        "x": -150.968505859375,
                        "y": 4295.1572265625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": 0.22747260332107544,
                        "yaw": 179.293212890625
                    }
                },
                "velocity": {
                    "x": -0.4451948404312134,
                    "y": -0.0015328129520639777,
                    "z": 0.0010454272851347923
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007216825033538043,
                "transform": {
                    "location": {
                        "x": -142.076171875,
                        "y": 4295.1015625,
                        "z": 372.9674987792969
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": 0.189291849732399,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 4.913363591185771e-05,
                    "y": -8.266316399385687e-06,
                    "z": 0.0007199605461210012
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39570629596710205,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "735": {
        "acceleration": [
            -1.3248627510620281e-05,
            0.002327119931578636,
            0.005087117664515972
        ],
        "angular_velocity": [
            0.0008779246127232909,
            -0.00039138662395998836,
            4.605085268849507e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            5.371235147322295e-06,
            -5.723078174924012e-06,
            -4.891619391855784e-05
        ],
        "speed": 7.848808241008435e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.5652625734219328e-05,
                -1.891914325824473e-05,
                0.0016815816052258015
            ],
            "speed_kmh": 0.006054339142536772,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9186441898345947,
                "transform": {
                    "location": {
                        "x": -174.48733520507812,
                        "y": 4334.51123046875,
                        "z": 373.1206970214844
                    },
                    "rotation": {
                        "roll": -0.00036621102481149137,
                        "pitch": 0.003059924580156803,
                        "yaw": -89.93938446044922
                    }
                },
                "velocity": {
                    "x": 0.004086990375071764,
                    "y": -3.9186415672302246,
                    "z": -0.001827297150157392
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.0666288037318736e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.452405952790286e-06,
                    "y": 1.1317082453388139e-06,
                    "z": 1.9242566850152798e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005379226058721542,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -5.849338776897639e-06,
                    "y": 1.90295231732307e-05,
                    "z": 0.0005375540931709111
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.019983768463135,
                "transform": {
                    "location": {
                        "x": -174.4940643310547,
                        "y": 4315.3896484375,
                        "z": 373.1124267578125
                    },
                    "rotation": {
                        "roll": 0.0007710216450504959,
                        "pitch": -0.0794009417295456,
                        "yaw": -90.01830291748047
                    }
                },
                "velocity": {
                    "x": -0.0033219715114682913,
                    "y": -5.019981384277344,
                    "z": -0.003675222396850586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000252345489570871,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 3.0219553082133643e-07,
                    "y": 1.8333765865463647e-06,
                    "z": -0.00025233865017071366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005036548827774823,
                "transform": {
                    "location": {
                        "x": -111.2425765991211,
                        "y": 4294.92724609375,
                        "z": 372.84765625
                    },
                    "rotation": {
                        "roll": 0.00029343500500544906,
                        "pitch": 0.20735086500644684,
                        "yaw": 179.458740234375
                    }
                },
                "velocity": {
                    "x": 0.00035141821717843413,
                    "y": 0.00010645239672157913,
                    "z": 0.0003447337367106229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4833359122276306,
                "transform": {
                    "location": {
                        "x": -121.49163818359375,
                        "y": 4294.9853515625,
                        "z": 372.92633056640625
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": 0.25857046246528625,
                        "yaw": 179.53016662597656
                    }
                },
                "velocity": {
                    "x": -0.48331424593925476,
                    "y": 0.003931319806724787,
                    "z": 0.0023424529936164618
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008233798434957862,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.281646728515625
                    }
                },
                "velocity": {
                    "x": 8.449144843325485e-06,
                    "y": -5.189608600630891e-07,
                    "z": 0.0008233363041654229
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00017043095431290567,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -1.09707561932737e-05,
                    "y": 1.6315403627231717e-05,
                    "z": -0.00016929312550928444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.563100337982178,
                "transform": {
                    "location": {
                        "x": -206.43374633789062,
                        "y": 4295.48681640625,
                        "z": 373.1889343261719
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.10612747073173523,
                        "yaw": 179.67453002929688
                    }
                },
                "velocity": {
                    "x": -7.56292724609375,
                    "y": 0.042929232120513916,
                    "z": 0.027900399640202522
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001681760884821415,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.5652625734219328e-05,
                    "y": -1.891914325824473e-05,
                    "z": 0.0016815816052258015
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.36949348449707,
                "transform": {
                    "location": {
                        "x": -226.984130859375,
                        "y": 4295.65234375,
                        "z": 373.310546875
                    },
                    "rotation": {
                        "roll": 0.003919549752026796,
                        "pitch": 0.3836243748664856,
                        "yaw": -179.9618682861328
                    }
                },
                "velocity": {
                    "x": -7.369441509246826,
                    "y": -0.003536334028467536,
                    "z": 0.027503814548254013
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.988492488861084,
                "transform": {
                    "location": {
                        "x": -174.5595245361328,
                        "y": 4295.04296875,
                        "z": 373.1252746582031
                    },
                    "rotation": {
                        "roll": 0.16400572657585144,
                        "pitch": -0.04867875576019287,
                        "yaw": -90.28494262695312
                    }
                },
                "velocity": {
                    "x": -0.03440892696380615,
                    "y": -7.9884161949157715,
                    "z": -0.006002473644912243
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2441344261169434,
                "transform": {
                    "location": {
                        "x": -131.9113311767578,
                        "y": 4295.04443359375,
                        "z": 372.92803955078125
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.2408871054649353,
                        "yaw": 179.58726501464844
                    }
                },
                "velocity": {
                    "x": -1.2441024780273438,
                    "y": 0.008218580856919289,
                    "z": 0.0034325597807765007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007357216672971845,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": -1.2633204278245103e-06,
                    "y": 3.312130502308719e-05,
                    "z": 0.000734974630177021
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.168079122900963e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.557384378742427e-06,
                    "y": -7.384558557532728e-06,
                    "z": 9.106987272389233e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015227027470245957,
                "transform": {
                    "location": {
                        "x": -150.9953155517578,
                        "y": 4295.15771484375,
                        "z": 372.99468994140625
                    },
                    "rotation": {
                        "roll": 0.00034861257881857455,
                        "pitch": 0.19759735465049744,
                        "yaw": 179.32955932617188
                    }
                },
                "velocity": {
                    "x": -3.2491981983184814e-05,
                    "y": -3.3155833079945296e-05,
                    "z": 0.001521994941867888
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00030307291308417916,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96734619140625
                    },
                    "rotation": {
                        "roll": 1.2184021215944085e-05,
                        "pitch": 0.20993268489837646,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.581463948241435e-05,
                    "y": 8.088767935987562e-05,
                    "z": 0.0002916509401984513
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3968128263950348,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "740": {
        "acceleration": [
            5.729496024287073e-06,
            0.0002933366922661662,
            0.004781375639140606
        ],
        "angular_velocity": [
            -0.004980140831321478,
            -0.001147616421803832,
            6.567055970663205e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            1.4014914313520421e-06,
            1.51164340422838e-05,
            -0.0004859947075601667
        ],
        "speed": 1.5181263333032259e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2526884347607847e-05,
                -1.0141438906430267e-05,
                0.0010708784684538841
            ],
            "speed_kmh": 0.0038555991022060933,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.656820297241211,
                "transform": {
                    "location": {
                        "x": -174.4864044189453,
                        "y": 4333.43701171875,
                        "z": 373.1204528808594
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": 0.003121396293863654,
                        "yaw": -89.95238494873047
                    }
                },
                "velocity": {
                    "x": 0.0005685795331373811,
                    "y": -4.656819820404053,
                    "z": -0.0018952750833705068
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002232025726698339,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 9.623169717087876e-06,
                    "y": -7.727096118514964e-08,
                    "z": 0.0002229950187029317
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.138500611996278e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -6.6684929151961114e-06,
                    "y": -7.412377726723207e-06,
                    "z": 6.0569851484615356e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.706234455108643,
                "transform": {
                    "location": {
                        "x": -174.49429321289062,
                        "y": 4314.1748046875,
                        "z": 373.11083984375
                    },
                    "rotation": {
                        "roll": 0.0011598070850595832,
                        "pitch": -0.11355871707201004,
                        "yaw": -90.03880310058594
                    }
                },
                "velocity": {
                    "x": -0.0044554779306054115,
                    "y": -4.706229209899902,
                    "z": -0.00557192787528038
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003767331945709884,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -6.456151368183782e-06,
                    "y": -1.0561319641055888e-06,
                    "z": -0.00037667638389393687
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00037247189902700484,
                "transform": {
                    "location": {
                        "x": -111.24272918701172,
                        "y": 4294.92724609375,
                        "z": 372.84759521484375
                    },
                    "rotation": {
                        "roll": -0.00018310533778276294,
                        "pitch": 0.21845676004886627,
                        "yaw": 179.458740234375
                    }
                },
                "velocity": {
                    "x": 0.00017713003035169095,
                    "y": -6.830923666711897e-05,
                    "z": 0.00032045922125689685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3160163164138794,
                "transform": {
                    "location": {
                        "x": -121.72921752929688,
                        "y": 4294.9873046875,
                        "z": 372.92681884765625
                    },
                    "rotation": {
                        "roll": -0.0020141596905887127,
                        "pitch": 0.3054528832435608,
                        "yaw": 179.56788635253906
                    }
                },
                "velocity": {
                    "x": -1.3159855604171753,
                    "y": 0.007638990879058838,
                    "z": 0.004756174050271511
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006337256054393947,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.281646728515625
                    }
                },
                "velocity": {
                    "x": 9.161941306956578e-06,
                    "y": 4.792693744093413e-07,
                    "z": 0.0006336591904982924
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2197934665891808e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 5.338489700079663e-06,
                    "y": -1.939843969012145e-06,
                    "z": -1.079477442544885e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.981043338775635,
                "transform": {
                    "location": {
                        "x": -208.2078094482422,
                        "y": 4295.49658203125,
                        "z": 373.1951599121094
                    },
                    "rotation": {
                        "roll": 1.859528674685862e-05,
                        "pitch": 0.16109000146389008,
                        "yaw": 179.67059326171875
                    }
                },
                "velocity": {
                    "x": -6.98088264465332,
                    "y": 0.04024486616253853,
                    "z": 0.024965504184365273
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010709997732192278,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2526884347607847e-05,
                    "y": -1.0141438906430267e-05,
                    "z": 0.0010708784684538841
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.405061721801758,
                "transform": {
                    "location": {
                        "x": -229.031005859375,
                        "y": 4295.6513671875,
                        "z": 373.3185729980469
                    },
                    "rotation": {
                        "roll": 0.0032521840184926987,
                        "pitch": 0.35815462470054626,
                        "yaw": -179.9894561767578
                    }
                },
                "velocity": {
                    "x": -8.404994010925293,
                    "y": -0.0030052762012928724,
                    "z": 0.03362596407532692
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.40625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.995859622955322,
                "transform": {
                    "location": {
                        "x": -174.56507873535156,
                        "y": 4293.05419921875,
                        "z": 373.12353515625
                    },
                    "rotation": {
                        "roll": 0.20277850329875946,
                        "pitch": -0.055693358182907104,
                        "yaw": -90.14386749267578
                    }
                },
                "velocity": {
                    "x": -0.006245912052690983,
                    "y": -7.995851993560791,
                    "z": -0.009011363610625267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9791687726974487,
                "transform": {
                    "location": {
                        "x": -132.3164825439453,
                        "y": 4295.046875,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": 0.24253317713737488,
                        "yaw": 179.6311492919922
                    }
                },
                "velocity": {
                    "x": -1.9791240692138672,
                    "y": 0.011639260686933994,
                    "z": 0.006462650373578072
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021810809266753495,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": -1.8041581029137888e-07,
                    "y": 9.072696229850408e-06,
                    "z": 0.0002179192379117012
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00044164108112454414,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.1451802492956631e-05,
                    "y": 1.7681324607110582e-05,
                    "z": 0.000441138370661065
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011964808218181133,
                "transform": {
                    "location": {
                        "x": -150.9953155517578,
                        "y": 4295.15771484375,
                        "z": 372.99462890625
                    },
                    "rotation": {
                        "roll": -6.103517807787284e-05,
                        "pitch": 0.19974887371063232,
                        "yaw": 179.32955932617188
                    }
                },
                "velocity": {
                    "x": 2.1661482605850324e-05,
                    "y": -0.00025558925699442625,
                    "z": 0.0011686621000990272
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013352304231375456,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.6303434676956385e-05,
                    "y": 8.286056981887668e-05,
                    "z": 0.0013325571781024337
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3967241644859314,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "745": {
        "acceleration": [
            -1.73695389094064e-05,
            0.00012250198051333427,
            -0.000531600380782038
        ],
        "angular_velocity": [
            -0.005713860969990492,
            -0.0009828658076003194,
            6.845024472568184e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            4.051066753163468e-06,
            1.703007183095906e-05,
            0.00012633093865588307
        ],
        "speed": 1.750527030371744e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.708255674922839e-06,
                -5.138082087796647e-06,
                4.433144113136223e-06
            ],
            "speed_kmh": 4.2641826384889007e-05,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.247028827667236,
                "transform": {
                    "location": {
                        "x": -174.48617553710938,
                        "y": 4332.1806640625,
                        "z": 373.1204528808594
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.00028003775514662266,
                        "yaw": -89.97784423828125
                    }
                },
                "velocity": {
                    "x": -0.00020688099903054535,
                    "y": -5.247028827667236,
                    "z": -0.0015404224395751953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.926650869194418e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 8.13346377981361e-06,
                    "y": -3.9159377251962724e-07,
                    "z": 7.884714432293549e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001893279841169715,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -2.3221224182634614e-05,
                    "y": 8.004519622772932e-05,
                    "z": -0.00016999596846289933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.620081901550293,
                "transform": {
                    "location": {
                        "x": -174.4500732421875,
                        "y": 4313.0029296875,
                        "z": 373.1094970703125
                    },
                    "rotation": {
                        "roll": -0.1104431003332138,
                        "pitch": -0.09597781300544739,
                        "yaw": -88.3305892944336
                    }
                },
                "velocity": {
                    "x": 0.30089130997657776,
                    "y": -4.610269546508789,
                    "z": -0.005802774336189032
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.12561704218387604,
                "transform": {
                    "location": {
                        "x": -111.24906158447266,
                        "y": 4294.92724609375,
                        "z": 372.8475036621094
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": 0.24863936007022858,
                        "yaw": 179.47096252441406
                    }
                },
                "velocity": {
                    "x": -0.1256062537431717,
                    "y": -0.0004643476568162441,
                    "z": 0.0015796470688655972
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1514601707458496,
                "transform": {
                    "location": {
                        "x": -122.16069793701172,
                        "y": 4294.98974609375,
                        "z": 372.928466796875
                    },
                    "rotation": {
                        "roll": -0.0021057131234556437,
                        "pitch": 0.31498780846595764,
                        "yaw": 179.58018493652344
                    }
                },
                "velocity": {
                    "x": -2.1514089107513428,
                    "y": 0.012728555127978325,
                    "z": 0.0076871393248438835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6521071049501188e-05,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.281646728515625
                    }
                },
                "velocity": {
                    "x": 5.757473445555661e-06,
                    "y": -3.9113103866839083e-07,
                    "z": 2.5885628929245286e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013960957585368305,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -2.3692846298217773e-06,
                    "y": 2.888443304982502e-06,
                    "z": -0.00013955959002487361
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.931891441345215,
                "transform": {
                    "location": {
                        "x": -210.06170654296875,
                        "y": 4295.50732421875,
                        "z": 373.2014465332031
                    },
                    "rotation": {
                        "roll": 0.00028448872035369277,
                        "pitch": 0.25174710154533386,
                        "yaw": 179.6643524169922
                    }
                },
                "velocity": {
                    "x": -7.931700229644775,
                    "y": 0.046172261238098145,
                    "z": 0.030002497136592865
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1844951586681418e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.708255674922839e-06,
                    "y": -5.138082087796647e-06,
                    "z": 4.433144113136223e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.080078125,
                        "y": 4295.66455078125,
                        "z": 373.3236389160156
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12668420374393463,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.05108642578125
                    },
                    "rotation": {
                        "roll": -0.00015258703206200153,
                        "pitch": 0.030285056680440903,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": -6.929098162800074e-05,
                    "y": -6.314438360277563e-05,
                    "z": -0.12668415904045105
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.08379077911377,
                "transform": {
                    "location": {
                        "x": -174.56765747070312,
                        "y": 4291.03857421875,
                        "z": 373.1215515136719
                    },
                    "rotation": {
                        "roll": 0.21536533534526825,
                        "pitch": -0.06115750968456268,
                        "yaw": -90.08258056640625
                    }
                },
                "velocity": {
                    "x": -0.0046880170702934265,
                    "y": -8.08376407623291,
                    "z": -0.020375795662403107
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7897928953170776,
                "transform": {
                    "location": {
                        "x": -132.8503875732422,
                        "y": 4295.05029296875,
                        "z": 372.9317626953125
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.22446732223033905,
                        "yaw": 179.63430786132812
                    }
                },
                "velocity": {
                    "x": -1.789743185043335,
                    "y": 0.01106544490903616,
                    "z": 0.00745358457788825
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002193140098825097,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": -2.1409428882179782e-05,
                    "y": 6.851381476735696e-05,
                    "z": 0.0002072344796033576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000191476137842983,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.637813723704312e-06,
                    "y": 1.967534217328648e-06,
                    "z": 0.0001913136220537126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014330593403428793,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 1.866955244622659e-05,
                    "y": 0.00010367690265411511,
                    "z": 0.0014291821280494332
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004986572312191129,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 7.797107173246332e-06,
                    "y": 4.449952939467039e-06,
                    "z": 0.000498576438985765
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39778998494148254,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "750": {
        "acceleration": [
            -2.415254493826069e-05,
            0.0003821467107627541,
            0.0010521583026275039
        ],
        "angular_velocity": [
            0.0,
            0.0,
            0.0
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            0.0,
            0.0,
            0.0
        ],
        "speed": 0.0,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.730105946597178e-06,
                2.0646148186642677e-06,
                0.0008599042193964124
            ],
            "speed_kmh": 0.003095823645042211,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.1058878898620605,
                "transform": {
                    "location": {
                        "x": -174.48617553710938,
                        "y": 4330.77978515625,
                        "z": 373.1197509765625
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.0018031698418781161,
                        "yaw": -89.9788818359375
                    }
                },
                "velocity": {
                    "x": 0.0015828562900424004,
                    "y": -6.105886936187744,
                    "z": -0.001986064948141575
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002884451241698116,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 9.948126717063133e-06,
                    "y": 1.3855911618065875e-07,
                    "z": 0.00028827349888160825
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.34439740376547e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.5250928299792577e-05,
                    "y": -5.4830368753755465e-05,
                    "z": -7.41135299904272e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.466655254364014,
                "transform": {
                    "location": {
                        "x": -174.36468505859375,
                        "y": 4311.876953125,
                        "z": 373.1080627441406
                    },
                    "rotation": {
                        "roll": -0.0589904747903347,
                        "pitch": -0.09592317044734955,
                        "yaw": -86.61566925048828
                    }
                },
                "velocity": {
                    "x": 0.36296918988227844,
                    "y": -4.451879501342773,
                    "z": -0.0056174276396632195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003786509914789349,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 1.3624727216665633e-05,
                    "y": -1.4723429558216594e-05,
                    "z": 0.0003781192353926599
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7811499238014221,
                "transform": {
                    "location": {
                        "x": -111.36241912841797,
                        "y": 4294.92822265625,
                        "z": 372.8475341796875
                    },
                    "rotation": {
                        "roll": -0.0006408692570403218,
                        "pitch": 0.4058224856853485,
                        "yaw": 179.4984588623047
                    }
                },
                "velocity": {
                    "x": -0.7811287045478821,
                    "y": 0.005193535704165697,
                    "z": 0.0024773692712187767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.345635175704956,
                "transform": {
                    "location": {
                        "x": -122.8539047241211,
                        "y": 4294.994140625,
                        "z": 372.9308776855469
                    },
                    "rotation": {
                        "roll": -0.0021972653921693563,
                        "pitch": 0.3466798961162567,
                        "yaw": 179.60549926757812
                    }
                },
                "velocity": {
                    "x": -3.3455517292022705,
                    "y": 0.019598565995693207,
                    "z": 0.013182554394006729
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008299806504510343,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.281646728515625
                    }
                },
                "velocity": {
                    "x": 9.07734010979766e-06,
                    "y": -1.2238324416102841e-05,
                    "z": 0.0008298407774418592
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003752494230866432,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -2.386324013059493e-05,
                    "y": 1.5818293832126074e-05,
                    "z": -0.0003741556720342487
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.083511352539062,
                "transform": {
                    "location": {
                        "x": -212.19358825683594,
                        "y": 4295.52001953125,
                        "z": 373.2093200683594
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": 0.29045379161834717,
                        "yaw": 179.65988159179688
                    }
                },
                "velocity": {
                    "x": -9.083290100097656,
                    "y": 0.05380120128393173,
                    "z": 0.03375927731394768
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008599510183557868,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.730105946597178e-06,
                    "y": 2.0646148186642677e-06,
                    "z": 0.0008599042193964124
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.18353724479675293,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.09765625
                    },
                    "rotation": {
                        "roll": -0.00018310445011593401,
                        "pitch": 0.030271396040916443,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": 2.3623999368282966e-05,
                    "y": 9.769545431481674e-05,
                    "z": 0.18353721499443054
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.995892524719238,
                "transform": {
                    "location": {
                        "x": -174.56851196289062,
                        "y": 4289.03125,
                        "z": 373.1153869628906
                    },
                    "rotation": {
                        "roll": 0.1468178629875183,
                        "pitch": -0.24746456742286682,
                        "yaw": -90.01644134521484
                    }
                },
                "velocity": {
                    "x": 0.004348554648458958,
                    "y": -7.99582576751709,
                    "z": -0.03241204842925072
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010908354306593537,
                "transform": {
                    "location": {
                        "x": -132.90921020507812,
                        "y": 4295.05078125,
                        "z": 372.9322814941406
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": 0.1918736696243286,
                        "yaw": 179.63510131835938
                    }
                },
                "velocity": {
                    "x": 5.322057768353261e-05,
                    "y": -5.766535468865186e-05,
                    "z": 0.001088009332306683
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005499217659235001,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": 1.9029527038583183e-06,
                    "y": 3.246265623602085e-05,
                    "z": 0.0005489594768732786
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007935845642350614,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 5.085728844278492e-06,
                    "y": -2.2127538613858633e-05,
                    "z": 0.0007932597072795033
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010565401753410697,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 5.267411324894056e-06,
                    "y": -8.970884664449841e-05,
                    "z": 0.0010527116246521473
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012100778985768557,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.2756659998558462e-05,
                    "y": -5.445619990496198e-06,
                    "z": 0.0012099983869120479
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3977181017398834,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "755": {
        "acceleration": [
            2.776086148514878e-05,
            -0.0003566686646081507,
            0.005243095103651285
        ],
        "angular_velocity": [
            -0.0002623569453135133,
            -0.0016767628258094192,
            5.354548557079397e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            2.869330273824744e-06,
            -8.318331310874783e-06,
            0.0004369332455098629
        ],
        "speed": 8.799300655038839e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.253173629986122e-06,
                -9.694621212474885e-07,
                0.0004143499245401472
            ],
            "speed_kmh": 0.0014920357156412581,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.939547061920166,
                "transform": {
                    "location": {
                        "x": -174.4862518310547,
                        "y": 4329.18359375,
                        "z": 373.119140625
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.006898490712046623,
                        "yaw": -89.97418212890625
                    }
                },
                "velocity": {
                    "x": 0.0005776330945082009,
                    "y": -6.939546585083008,
                    "z": -0.0016650771722197533
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015513433027081192,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.771663149469532e-06,
                    "y": -3.1826166377868503e-06,
                    "z": 0.00015490685473196208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.813906682305969e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -1.3528018598663039e-06,
                    "y": -9.778290404938161e-06,
                    "z": 5.7294906582683325e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.295742034912109,
                "transform": {
                    "location": {
                        "x": -174.26953125,
                        "y": 4310.78662109375,
                        "z": 373.10662841796875
                    },
                    "rotation": {
                        "roll": -0.0335693322122097,
                        "pitch": -0.10119608044624329,
                        "yaw": -85.6092300415039
                    }
                },
                "velocity": {
                    "x": 0.38731154799461365,
                    "y": -4.2782416343688965,
                    "z": -0.005918330978602171
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00036301848012953997,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 7.724575880274642e-06,
                    "y": 2.083279650832992e-05,
                    "z": 0.00036233788705430925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.655250072479248,
                "transform": {
                    "location": {
                        "x": -111.67749786376953,
                        "y": 4294.9296875,
                        "z": 372.84820556640625
                    },
                    "rotation": {
                        "roll": -0.00335693359375,
                        "pitch": 0.5430478453636169,
                        "yaw": 179.4895477294922
                    }
                },
                "velocity": {
                    "x": -1.6552056074142456,
                    "y": 0.010367603972554207,
                    "z": 0.006302394904196262
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.62005615234375,
                "transform": {
                    "location": {
                        "x": -123.6312484741211,
                        "y": 4294.99853515625,
                        "z": 372.9351806640625
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.62771606445312
                    }
                },
                "velocity": {
                    "x": -2.6199886798858643,
                    "y": 0.015364442951977253,
                    "z": 0.010824889875948429
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004573696351144463,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.281646728515625
                    }
                },
                "velocity": {
                    "x": 4.460960553842597e-06,
                    "y": 2.0097808373975568e-05,
                    "z": 0.00045690606930293143
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002206636854680255,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 1.4100782209425233e-05,
                    "y": -3.913160253432579e-05,
                    "z": 0.00021670798014383763
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.273452758789062,
                "transform": {
                    "location": {
                        "x": -214.62608337402344,
                        "y": 4295.5341796875,
                        "z": 373.2185363769531
                    },
                    "rotation": {
                        "roll": 0.00044758597505278885,
                        "pitch": 0.29925790429115295,
                        "yaw": 179.65829467773438
                    }
                },
                "velocity": {
                    "x": -10.273183822631836,
                    "y": 0.06310052424669266,
                    "z": 0.039217203855514526
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00041445434908382595,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.253173629986122e-06,
                    "y": -9.694621212474885e-07,
                    "z": 0.0004143499245401472
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1151396036148071,
                "transform": {
                    "location": {
                        "x": -174.5641326904297,
                        "y": 4349.234375,
                        "z": 373.1180725097656
                    },
                    "rotation": {
                        "roll": -0.0010986319975927472,
                        "pitch": 0.04826211556792259,
                        "yaw": -90.00704956054688
                    }
                },
                "velocity": {
                    "x": 0.017297282814979553,
                    "y": -1.1148346662521362,
                    "z": 0.019509725272655487
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.036959648132324,
                "transform": {
                    "location": {
                        "x": -174.56695556640625,
                        "y": 4287.029296875,
                        "z": 373.10595703125
                    },
                    "rotation": {
                        "roll": 0.08892247080802917,
                        "pitch": -0.3368580937385559,
                        "yaw": -89.98612976074219
                    }
                },
                "velocity": {
                    "x": 0.0028689077589660883,
                    "y": -8.036847114562988,
                    "z": -0.04246539622545242
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00022012244153302163,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": 6.160400516819209e-06,
                    "y": -2.064773980237078e-05,
                    "z": 0.0002190653030993417
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001642201968934387,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.304153283854248e-05,
                    "y": -3.3554456422280055e-06,
                    "z": 0.00016366713680326939
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009680048679001629,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": -2.002641622311785e-06,
                    "y": 9.82452547759749e-06,
                    "z": 0.0009679529466666281
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007858118624426425,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 9.324513484898489e-06,
                    "y": 7.306277893803781e-07,
                    "z": 0.0007857562159188092
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3981598913669586,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "760": {
        "acceleration": [
            4.259271008777432e-05,
            0.002458833623677492,
            0.005031823180615902
        ],
        "angular_velocity": [
            -0.012796216644346714,
            -0.006856265943497419,
            9.514736302662641e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            -1.522537331766216e-05,
            4.407592859934084e-05,
            7.768662180751562e-05
        ],
        "speed": 4.663152876066118e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4626271877205e-05,
                1.1000010999850929e-05,
                0.0016150937881320715
            ],
            "speed_kmh": 0.0058147108980617776,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.88208532333374,
                "transform": {
                    "location": {
                        "x": -174.48593139648438,
                        "y": 4327.41943359375,
                        "z": 373.1183776855469
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.024568188935518265,
                        "yaw": -90.00320434570312
                    }
                },
                "velocity": {
                    "x": -0.0027864619623869658,
                    "y": -6.882084369659424,
                    "z": -0.0022377967834472656
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8893359083449468e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.77091827330878e-06,
                    "y": 1.9198094491912343e-07,
                    "z": 1.722019078442827e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002454079804010689,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -9.00294617167674e-06,
                    "y": 4.367865074073052e-07,
                    "z": 0.00024524240870960057
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.170275688171387,
                "transform": {
                    "location": {
                        "x": -174.17007446289062,
                        "y": 4309.732421875,
                        "z": 373.105224609375
                    },
                    "rotation": {
                        "roll": -0.02178955264389515,
                        "pitch": -0.09976173937320709,
                        "yaw": -85.0023193359375
                    }
                },
                "velocity": {
                    "x": 0.39915260672569275,
                    "y": -4.151125907897949,
                    "z": -0.005632486194372177
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.3029260016046464e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 3.6932526654709363e-06,
                    "y": -2.501666585885687e-06,
                    "z": 5.284130747895688e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.132293462753296,
                "transform": {
                    "location": {
                        "x": -112.19390106201172,
                        "y": 4294.93359375,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0071411109529435635,
                        "pitch": 0.5246267914772034,
                        "yaw": 179.6375274658203
                    }
                },
                "velocity": {
                    "x": -2.13224720954895,
                    "y": 0.011223511770367622,
                    "z": 0.00846190471202135
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008748099207878113,
                "transform": {
                    "location": {
                        "x": -123.9281234741211,
                        "y": 4295.00048828125,
                        "z": 372.9383239746094
                    },
                    "rotation": {
                        "roll": -0.0006713865441270173,
                        "pitch": -0.018803508952260017,
                        "yaw": 179.6304473876953
                    }
                },
                "velocity": {
                    "x": 0.000610878283623606,
                    "y": 2.7516287559592456e-07,
                    "z": 0.000626194931101054
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013741985894739628,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.281646728515625
                    }
                },
                "velocity": {
                    "x": 9.892992238746956e-06,
                    "y": -1.2639828128158115e-05,
                    "z": 0.001374104875139892
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.040220953058451e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -1.0242313237540657e-06,
                    "y": 4.8466254156664945e-06,
                    "z": -7.022771751508117e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.248136520385742,
                "transform": {
                    "location": {
                        "x": -217.1034393310547,
                        "y": 4295.54931640625,
                        "z": 373.22882080078125
                    },
                    "rotation": {
                        "roll": 0.00010599177039694041,
                        "pitch": 0.1940661519765854,
                        "yaw": 179.65487670898438
                    }
                },
                "velocity": {
                    "x": -9.247894287109375,
                    "y": 0.05558706074953079,
                    "z": 0.03710995614528656
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0016151973977684975,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4626271877205e-05,
                    "y": 1.1000010999850929e-05,
                    "z": 0.0016150937881320715
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6400327682495117,
                "transform": {
                    "location": {
                        "x": -174.55960083007812,
                        "y": 4348.7197265625,
                        "z": 373.1186218261719
                    },
                    "rotation": {
                        "roll": -0.0011291498085483909,
                        "pitch": 0.06803551316261292,
                        "yaw": -89.88042449951172
                    }
                },
                "velocity": {
                    "x": 0.02204217202961445,
                    "y": -2.639939785003662,
                    "z": -0.002319192746654153
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03780746459961,
                "transform": {
                    "location": {
                        "x": -174.56546020507812,
                        "y": 4285.01708984375,
                        "z": 373.09674072265625
                    },
                    "rotation": {
                        "roll": 0.029277583584189415,
                        "pitch": -0.21478894352912903,
                        "yaw": -89.94979858398438
                    }
                },
                "velocity": {
                    "x": 0.008227520622313023,
                    "y": -8.037748336791992,
                    "z": -0.029558943584561348
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.848326691193506e-05,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": 5.709342531190487e-06,
                    "y": -1.8014624174611527e-06,
                    "z": 5.817603232571855e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.393062696792185e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.741823537799064e-06,
                    "y": 8.910340909551451e-08,
                    "z": 7.35241046641022e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005263013299554586,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 8.72146301844623e-06,
                    "y": 1.6336902262992226e-05,
                    "z": 0.0005259754252620041
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4577136425941717e-05,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 9.534395758237224e-06,
                    "y": 1.0632937119225971e-05,
                    "z": -2.9204202292021364e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39767226576805115,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "765": {
        "acceleration": [
            0.0005060344701632857,
            -0.0010797015856951475,
            0.007968105375766754
        ],
        "angular_velocity": [
            0.009526240639388561,
            0.002509578363969922,
            1.35027212309069e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            1.433271881978726e-05,
            -3.612304863054305e-05,
            -0.0001841220655478537
        ],
        "speed": 3.88625973286869e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0807439139171038e-05,
                2.2153692498250166e-06,
                0.000508992001414299
            ],
            "speed_kmh": 0.0018328015650162194,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.55942964553833,
                "transform": {
                    "location": {
                        "x": -174.48648071289062,
                        "y": 4325.74951171875,
                        "z": 373.11761474609375
                    },
                    "rotation": {
                        "roll": -0.0004272437945473939,
                        "pitch": -0.042729660868644714,
                        "yaw": -90.02713012695312
                    }
                },
                "velocity": {
                    "x": -0.004295665305107832,
                    "y": -6.559426307678223,
                    "z": -0.005083455704152584
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020328559912741184,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.715858373558149e-06,
                    "y": -2.819329552039562e-07,
                    "z": 0.0002031389158219099
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00034779991256073117,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -1.3659745491167996e-05,
                    "y": 3.179085615556687e-05,
                    "z": 0.00034607446286827326
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.202187538146973,
                "transform": {
                    "location": {
                        "x": -174.06475830078125,
                        "y": 4308.7041015625,
                        "z": 373.1038513183594
                    },
                    "rotation": {
                        "roll": -0.06283567100763321,
                        "pitch": -0.08493340015411377,
                        "yaw": -84.42473602294922
                    }
                },
                "velocity": {
                    "x": 0.5478987097740173,
                    "y": -4.166311740875244,
                    "z": -0.005739250220358372
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00014771032147109509,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 5.01699742017081e-06,
                    "y": 3.6264162190491334e-05,
                    "z": -0.00014310164260677993
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.580866813659668,
                "transform": {
                    "location": {
                        "x": -112.35296630859375,
                        "y": 4294.9345703125,
                        "z": 372.853271484375
                    },
                    "rotation": {
                        "roll": -0.005737305618822575,
                        "pitch": -0.09857328236103058,
                        "yaw": 179.72317504882812
                    }
                },
                "velocity": {
                    "x": -0.5808520913124084,
                    "y": 0.003151174169033766,
                    "z": 0.002687158528715372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006265240372158587,
                "transform": {
                    "location": {
                        "x": -123.92937469482422,
                        "y": 4295.00048828125,
                        "z": 372.9367370605469
                    },
                    "rotation": {
                        "roll": 0.00013605917047243565,
                        "pitch": 0.15957370400428772,
                        "yaw": 179.6304473876953
                    }
                },
                "velocity": {
                    "x": 0.0005868836306035519,
                    "y": 8.21782014099881e-05,
                    "z": 0.00020333899010438472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00034750663326121867,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.2817383110523224
                    }
                },
                "velocity": {
                    "x": 7.511116564273834e-06,
                    "y": -1.3366601706366055e-05,
                    "z": 0.0003471682430244982
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000385928840842098,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 9.168870747089386e-06,
                    "y": -1.645235352043528e-05,
                    "z": -0.00038546897121705115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.501164436340332,
                "transform": {
                    "location": {
                        "x": -219.1953125,
                        "y": 4295.56201171875,
                        "z": 373.23748779296875
                    },
                    "rotation": {
                        "roll": 2.6055161500559976e-11,
                        "pitch": 0.12254724651575089,
                        "yaw": 179.65838623046875
                    }
                },
                "velocity": {
                    "x": -7.500979423522949,
                    "y": 0.04450411722064018,
                    "z": 0.02821858413517475
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005091115599498153,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0807439139171038e-05,
                    "y": 2.2153692498250166e-06,
                    "z": 0.000508992001414299
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.4674746990203857,
                "transform": {
                    "location": {
                        "x": -174.5543670654297,
                        "y": 4347.9482421875,
                        "z": 373.1186218261719
                    },
                    "rotation": {
                        "roll": -0.0005493185017257929,
                        "pitch": 0.053084228187799454,
                        "yaw": -89.72119140625
                    }
                },
                "velocity": {
                    "x": 0.030234482139348984,
                    "y": -3.4673428535461426,
                    "z": 0.0005370902945287526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017629623413086,
                "transform": {
                    "location": {
                        "x": -174.56288146972656,
                        "y": 4283.01123046875,
                        "z": 373.08990478515625
                    },
                    "rotation": {
                        "roll": -0.004455564543604851,
                        "pitch": -0.142764613032341,
                        "yaw": -89.9444580078125
                    }
                },
                "velocity": {
                    "x": 0.011616877280175686,
                    "y": -8.017593383789062,
                    "z": -0.020848555490374565
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010581445530988276,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.1734313815832138
                    }
                },
                "velocity": {
                    "x": 1.7182454030262306e-05,
                    "y": -1.2342770787654445e-06,
                    "z": 0.00010440277401357889
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00044843097566626966,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.0459981240273919e-05,
                    "y": 8.437164638053218e-07,
                    "z": 0.00044830815750174224
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001196217373944819,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 7.737166924925987e-06,
                    "y": -1.9426128346822225e-05,
                    "z": 0.0011960346018895507
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010401086183264852,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.0469406333868392e-05,
                    "y": -8.470506713820214e-07,
                    "z": 0.001040055649355054
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3953069746494293,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "770": {
        "acceleration": [
            4.6042350732022896e-05,
            -0.00019724041339941323,
            0.004874228034168482
        ],
        "angular_velocity": [
            0.012897983193397522,
            0.0017783476505428553,
            3.13446457766986e-06
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            1.2128427442803513e-05,
            -3.82561884180177e-05,
            -0.00013981526717543602
        ],
        "speed": 4.0132713644983204e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                6.38101255390211e-06,
                4.466171048989054e-06,
                0.00017530903278384358
            ],
            "speed_kmh": 0.0006317350836460928,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.8451104164123535,
                "transform": {
                    "location": {
                        "x": -174.48663330078125,
                        "y": 4324.1845703125,
                        "z": 373.11663818359375
                    },
                    "rotation": {
                        "roll": -0.0001525887637399137,
                        "pitch": -0.05880792438983917,
                        "yaw": -90.03286743164062
                    }
                },
                "velocity": {
                    "x": -0.003354811342433095,
                    "y": -5.845106601715088,
                    "z": -0.005448589101433754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.123495743144304e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 6.360448878695024e-06,
                    "y": 6.921990802766231e-07,
                    "z": -7.094705506460741e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002052204217761755,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -2.1934285541647114e-05,
                    "y": 6.737682997481897e-05,
                    "z": 0.00019259977852925658
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.305556297302246,
                "transform": {
                    "location": {
                        "x": -173.83506774902344,
                        "y": 4307.5400390625,
                        "z": 373.1026611328125
                    },
                    "rotation": {
                        "roll": -0.2711181342601776,
                        "pitch": 0.04574177414178848,
                        "yaw": -80.30168151855469
                    }
                },
                "velocity": {
                    "x": 1.302032470703125,
                    "y": -5.143308162689209,
                    "z": -0.004459037911146879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004939225036650896,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 2.6136635824514087e-06,
                    "y": 1.0370926247560419e-05,
                    "z": 0.0004938066704198718
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4308393001556396,
                "transform": {
                    "location": {
                        "x": -112.62601470947266,
                        "y": 4294.9365234375,
                        "z": 372.85260009765625
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": 0.3491046130657196,
                        "yaw": 179.72421264648438
                    }
                },
                "velocity": {
                    "x": -1.4308096170425415,
                    "y": 0.00724687660112977,
                    "z": 0.005698938388377428
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023599443375132978,
                "transform": {
                    "location": {
                        "x": -123.9296875,
                        "y": 4295.00048828125,
                        "z": 372.9363708496094
                    },
                    "rotation": {
                        "roll": -0.0010070798452943563,
                        "pitch": 0.20660638809204102,
                        "yaw": 179.6304473876953
                    }
                },
                "velocity": {
                    "x": 0.00016119137580972165,
                    "y": -2.404843871772755e-05,
                    "z": -0.00017068210581783205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.20068460702896118,
                        "yaw": -0.28173828125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002632611140143126,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -1.0285861208103597e-05,
                    "y": -5.7297920648125e-06,
                    "z": -0.00026299769524484873
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.4596266746521,
                "transform": {
                    "location": {
                        "x": -220.77069091796875,
                        "y": 4295.56982421875,
                        "z": 373.244140625
                    },
                    "rotation": {
                        "roll": 0.00010797840513987467,
                        "pitch": 0.04846018925309181,
                        "yaw": 179.3915557861328
                    }
                },
                "velocity": {
                    "x": -4.459449291229248,
                    "y": 0.03610079735517502,
                    "z": 0.016676444560289383
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001754819677444175,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.38101255390211e-06,
                    "y": 4.466171048989054e-06,
                    "z": 0.00017530903278384358
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.199780464172363,
                "transform": {
                    "location": {
                        "x": -174.546875,
                        "y": 4346.986328125,
                        "z": 373.1190490722656
                    },
                    "rotation": {
                        "roll": 0.00036355925840325654,
                        "pitch": 0.04449867829680443,
                        "yaw": -89.61707305908203
                    }
                },
                "velocity": {
                    "x": 0.03766048699617386,
                    "y": -4.199611186981201,
                    "z": 0.0010570144513621926
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.036303520202637,
                "transform": {
                    "location": {
                        "x": -174.5594482421875,
                        "y": 4281.00439453125,
                        "z": 373.0848388671875
                    },
                    "rotation": {
                        "roll": -0.0014038152294233441,
                        "pitch": -0.14819461107254028,
                        "yaw": -89.89651489257812
                    }
                },
                "velocity": {
                    "x": 0.014295583590865135,
                    "y": -8.036260604858398,
                    "z": -0.022159256041049957
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003397469117771834,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": -8.585452633269597e-06,
                    "y": 5.325220263330266e-05,
                    "z": -0.00033543771132826805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00014245988859329373,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 8.952617463364732e-06,
                    "y": -5.647249068374549e-08,
                    "z": 0.0001421782944817096
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004411310947034508,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 7.4647737164923456e-06,
                    "y": 5.857859378011199e-06,
                    "z": 0.00044102902757003903
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003999526961706579,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 8.981040991784539e-06,
                    "y": -1.3443046555039473e-05,
                    "z": 0.00039962580194696784
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.398637980222702,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "775": {
        "acceleration": [
            0.0004759199800901115,
            -0.0017781509086489677,
            -0.003275569062680006
        ],
        "angular_velocity": [
            0.018748726695775986,
            0.003540203906595707,
            -1.8434267985867336e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            1.7195343389175832e-05,
            -6.38795318081975e-05,
            -0.00032782251946628094
        ],
        "speed": 6.615341577202337e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.253206210094504e-05,
                -4.2784071752066666e-07,
                0.001055714557878673
            ],
            "speed_kmh": 0.0038008404866493755,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.934293746948242,
                "transform": {
                    "location": {
                        "x": -174.4872589111328,
                        "y": 4322.73828125,
                        "z": 373.1153564453125
                    },
                    "rotation": {
                        "roll": 0.000191413753782399,
                        "pitch": -0.04610377550125122,
                        "yaw": -90.03691101074219
                    }
                },
                "velocity": {
                    "x": -0.004796783905476332,
                    "y": -5.93428897857666,
                    "z": -0.005954656284302473
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00013666608720086515,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.370747425738955e-06,
                    "y": -1.4185561667545699e-06,
                    "z": 0.00013645979925058782
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004622911219485104,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -1.218598299601581e-05,
                    "y": 2.6603674996295013e-05,
                    "z": 0.0004613641067408025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.294656276702881,
                "transform": {
                    "location": {
                        "x": -173.39491271972656,
                        "y": 4306.2939453125,
                        "z": 373.1006164550781
                    },
                    "rotation": {
                        "roll": -0.4126282036304474,
                        "pitch": -0.04686875641345978,
                        "yaw": -72.2406234741211
                    }
                },
                "velocity": {
                    "x": 2.1529414653778076,
                    "y": -4.8371663093566895,
                    "z": -0.007015180308371782
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00037895666901022196,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 1.3601034879684448e-05,
                    "y": -2.1643971194862388e-05,
                    "z": 0.0003780935367103666
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2902681827545166,
                "transform": {
                    "location": {
                        "x": -113.1015625,
                        "y": 4294.9384765625,
                        "z": 372.8539123535156
                    },
                    "rotation": {
                        "roll": 9.024627070175484e-05,
                        "pitch": 0.5256240367889404,
                        "yaw": 179.716796875
                    }
                },
                "velocity": {
                    "x": -2.2902231216430664,
                    "y": 0.012055824510753155,
                    "z": 0.007810420822352171
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005442224792204797,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361877441406
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.2223021537065506,
                        "yaw": 179.6304473876953
                    }
                },
                "velocity": {
                    "x": 3.845151513814926e-05,
                    "y": 2.132226109097246e-05,
                    "z": -0.0005424434784799814
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008452718611806631,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.2817688286304474
                    }
                },
                "velocity": {
                    "x": 1.0947622286039405e-05,
                    "y": 7.467255727533484e-06,
                    "z": 0.0008451680187135935
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00019274874648544937,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 3.470985029707663e-05,
                    "y": -3.892993390763877e-06,
                    "z": -0.00018955777341034263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5139907598495483,
                "transform": {
                    "location": {
                        "x": -221.12335205078125,
                        "y": 4295.56982421875,
                        "z": 373.2457275390625
                    },
                    "rotation": {
                        "roll": 0.0015699004288762808,
                        "pitch": -0.03930773586034775,
                        "yaw": 179.19569396972656
                    }
                },
                "velocity": {
                    "x": -0.5139745473861694,
                    "y": 0.0036857302766293287,
                    "z": 0.0017607974587008357
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010557890636846423,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.253206210094504e-05,
                    "y": -4.2784071752066666e-07,
                    "z": 0.001055714557878673
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.96645450592041,
                "transform": {
                    "location": {
                        "x": -174.5370330810547,
                        "y": 4345.8388671875,
                        "z": 373.1195373535156
                    },
                    "rotation": {
                        "roll": 3.983721853728639e-06,
                        "pitch": 0.03854958713054657,
                        "yaw": -89.54731750488281
                    }
                },
                "velocity": {
                    "x": 0.045466355979442596,
                    "y": -4.966246128082275,
                    "z": 0.0021610641852021217
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029412269592285,
                "transform": {
                    "location": {
                        "x": -174.55538940429688,
                        "y": 4278.99560546875,
                        "z": 373.07958984375
                    },
                    "rotation": {
                        "roll": -9.155419684248045e-05,
                        "pitch": -0.1520741581916809,
                        "yaw": -89.92021179199219
                    }
                },
                "velocity": {
                    "x": 0.013045357540249825,
                    "y": -8.029373168945312,
                    "z": -0.02137499302625656
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002559118438512087,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.7283968190895393e-05,
                    "y": 8.353777047886979e-07,
                    "z": 0.0002553261292632669
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005155205144546926,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.1628120773821138e-05,
                    "y": 7.298483950535228e-08,
                    "z": 0.0005153893725946546
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011263297637924552,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 2.871461219910998e-05,
                    "y": 2.1067118723294698e-05,
                    "z": 0.0011257665464654565
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012527871876955032,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.2963600056536961e-05,
                    "y": -2.64742402578122e-06,
                    "z": 0.001252717338502407
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.396938681602478,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "780": {
        "acceleration": [
            -3.697052306961268e-05,
            0.00022482281201519072,
            0.0044319527223706245
        ],
        "angular_velocity": [
            -0.0026415963657200336,
            -0.0009091821848414838,
            5.7781868235906586e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            4.199892373435432e-06,
            9.081678399525117e-06,
            9.930648957379162e-05
        ],
        "speed": 1.0005797244639839e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.024819903250318e-05,
                -3.2313998872268712e-06,
                0.0006015083636157215
            ],
            "speed_kmh": 0.002165775615387434,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.934374809265137,
                "transform": {
                    "location": {
                        "x": -174.4891357421875,
                        "y": 4321.224609375,
                        "z": 373.1141052246094
                    },
                    "rotation": {
                        "roll": 2.476611189194955e-05,
                        "pitch": -0.045229509472846985,
                        "yaw": -90.04290771484375
                    }
                },
                "velocity": {
                    "x": -0.004817282315343618,
                    "y": -5.934370517730713,
                    "z": -0.00525635713711381
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014715170254930854,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 1.0019465662480798e-05,
                    "y": -3.0504945698339725e-06,
                    "z": 0.00014677850413136184
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.25625371967908e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.9218101442675106e-05,
                    "y": 5.155698090675287e-06,
                    "z": 1.0637268132995814e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.085859298706055,
                "transform": {
                    "location": {
                        "x": -172.56741333007812,
                        "y": 4304.9716796875,
                        "z": 373.0982666015625
                    },
                    "rotation": {
                        "roll": -0.7420044541358948,
                        "pitch": 0.10036279261112213,
                        "yaw": -59.19398880004883
                    }
                },
                "velocity": {
                    "x": 4.366899013519287,
                    "y": -5.580252170562744,
                    "z": -0.019544528797268867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1754765839432366e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 6.14192322245799e-06,
                    "y": 3.0592732400691602e-06,
                    "z": 2.0644307369366288e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.025657687336206436,
                "transform": {
                    "location": {
                        "x": -113.52983856201172,
                        "y": 4294.9404296875,
                        "z": 372.85791015625
                    },
                    "rotation": {
                        "roll": 0.0008190810331143439,
                        "pitch": -0.12057331949472427,
                        "yaw": 179.70266723632812
                    }
                },
                "velocity": {
                    "x": -0.02563915215432644,
                    "y": 0.000350018817698583,
                    "z": 0.0009100878960452974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010039198241429403,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361877441406
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.2223021537065506,
                        "yaw": 179.6304473876953
                    }
                },
                "velocity": {
                    "x": 2.343125561310444e-05,
                    "y": 6.919769020896638e-06,
                    "z": -9.73737332969904e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002533301885705441,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015563961351290345,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.2817688286304474
                    }
                },
                "velocity": {
                    "x": 6.963200576137751e-06,
                    "y": 2.295686726938584e-06,
                    "z": 0.0002532240469008684
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.51073966966942e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 1.3644657883560285e-05,
                    "y": -6.560592009918764e-05,
                    "z": -3.392355574760586e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1685174703598022,
                "transform": {
                    "location": {
                        "x": -221.39999389648438,
                        "y": 4295.5732421875,
                        "z": 373.24554443359375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": 0.19272060692310333,
                        "yaw": 179.30726623535156
                    }
                },
                "velocity": {
                    "x": -1.168467402458191,
                    "y": 0.009416310116648674,
                    "z": 0.005336599424481392
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006016043480485678,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.024819903250318e-05,
                    "y": -3.2313998872268712e-06,
                    "z": 0.0006015083636157215
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.41901969909668,
                "transform": {
                    "location": {
                        "x": -174.52569580078125,
                        "y": 4344.529296875,
                        "z": 373.12030029296875
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.026391848921775818,
                        "yaw": -89.5029067993164
                    }
                },
                "velocity": {
                    "x": 0.05048864334821701,
                    "y": -5.4187846183776855,
                    "z": 0.0016296672401949763
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02550983428955,
                "transform": {
                    "location": {
                        "x": -174.5517120361328,
                        "y": 4276.9892578125,
                        "z": 373.07427978515625
                    },
                    "rotation": {
                        "roll": -0.0008850128506310284,
                        "pitch": -0.15273667871952057,
                        "yaw": -89.88732147216797
                    }
                },
                "velocity": {
                    "x": 0.013925408944487572,
                    "y": -8.025470733642578,
                    "z": -0.021051639690995216
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010738522978499532,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 2.109631793700828e-07,
                    "y": -5.106720345793292e-05,
                    "z": 0.0010726373875513673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000285100017208606,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.0247714271827135e-05,
                    "y": -9.388995749759488e-07,
                    "z": 0.0002849142474588007
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008905691211111844,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 1.5914401956251822e-05,
                    "y": 2.0377519831527025e-05,
                    "z": 0.0008901936816982925
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008740369230508804,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 7.11578877599095e-06,
                    "y": -3.0321504596031446e-07,
                    "z": 0.0008740079356357455
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39579468965530396,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "785": {
        "acceleration": [
            -0.0004820004105567932,
            0.0014045933494344354,
            -0.0034695619251579046
        ],
        "angular_velocity": [
            -0.003643313655629754,
            -0.00026547000743448734,
            6.282854155870155e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            6.801299605285749e-06,
            1.8845921658794396e-05,
            0.00023907504510134459
        ],
        "speed": 2.0035629251168424e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.353792777081253e-05,
                -9.387089448864572e-06,
                0.001241958001628518
            ],
            "speed_kmh": 0.004471442124959792,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.507558822631836,
                "transform": {
                    "location": {
                        "x": -174.4910888671875,
                        "y": 4319.798828125,
                        "z": 373.1129455566406
                    },
                    "rotation": {
                        "roll": 0.00010157243377761915,
                        "pitch": -0.06363003700971603,
                        "yaw": -90.046142578125
                    }
                },
                "velocity": {
                    "x": -0.004497610963881016,
                    "y": -5.507553577423096,
                    "z": -0.006102676037698984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7010859664878808e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.40580253477674e-06,
                    "y": -5.838411425429513e-07,
                    "z": 1.530302506580483e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00034064051578752697,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 9.440555913897697e-06,
                    "y": -6.96340503054671e-05,
                    "z": 0.00033331356826238334
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.198966026306152,
                "transform": {
                    "location": {
                        "x": -171.18515014648438,
                        "y": 4303.63037109375,
                        "z": 373.0932312011719
                    },
                    "rotation": {
                        "roll": -0.8657836318016052,
                        "pitch": -0.04647943377494812,
                        "yaw": -42.77400588989258
                    }
                },
                "velocity": {
                    "x": 6.49562406539917,
                    "y": -5.002920150756836,
                    "z": -0.026610897853970528
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00038169664912857115,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -2.630427502481325e-07,
                    "y": -2.0564510123222135e-05,
                    "z": -0.0003811421920545399
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0045022862032055855,
                "transform": {
                    "location": {
                        "x": -113.52960968017578,
                        "y": 4294.9404296875,
                        "z": 372.85797119140625
                    },
                    "rotation": {
                        "roll": 0.00042339114588685334,
                        "pitch": -0.13204804062843323,
                        "yaw": 179.70260620117188
                    }
                },
                "velocity": {
                    "x": 0.004285430070012808,
                    "y": -0.0002700232435017824,
                    "z": 0.0013537929626181722
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017452813335694373,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361877441406
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.2223021537065506,
                        "yaw": 179.6304473876953
                    }
                },
                "velocity": {
                    "x": 1.631267309676332e-06,
                    "y": -1.1908207852684427e-05,
                    "z": 0.00017411376757081598
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011632039677351713,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015563961351290345,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.2817688286304474
                    }
                },
                "velocity": {
                    "x": 6.9347020144050475e-06,
                    "y": -2.4319781005033292e-05,
                    "z": 0.001162929111160338
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00018964508490171283,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 8.126608918246347e-06,
                    "y": -0.00016998960927594453,
                    "z": -8.368242561118677e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4206840991973877,
                "transform": {
                    "location": {
                        "x": -221.78045654296875,
                        "y": 4295.57666015625,
                        "z": 373.2463073730469
                    },
                    "rotation": {
                        "roll": -0.0015258785570040345,
                        "pitch": 0.28251710534095764,
                        "yaw": 179.45574951171875
                    }
                },
                "velocity": {
                    "x": -2.420590400695801,
                    "y": 0.0192258358001709,
                    "z": 0.009184007532894611
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012420671992003918,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.353792777081253e-05,
                    "y": -9.387089448864572e-06,
                    "z": 0.001241958001628518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.076117515563965,
                "transform": {
                    "location": {
                        "x": -174.51351928710938,
                        "y": 4343.06591796875,
                        "z": 373.12060546875
                    },
                    "rotation": {
                        "roll": 0.0006207118276506662,
                        "pitch": 0.0286321509629488,
                        "yaw": -89.5752182006836
                    }
                },
                "velocity": {
                    "x": 0.03398634493350983,
                    "y": -6.076022148132324,
                    "z": 0.002271194476634264
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032247543334961,
                "transform": {
                    "location": {
                        "x": -174.5477294921875,
                        "y": 4274.98193359375,
                        "z": 373.0688171386719
                    },
                    "rotation": {
                        "roll": -0.00103759893681854,
                        "pitch": -0.1572582721710205,
                        "yaw": -89.90060424804688
                    }
                },
                "velocity": {
                    "x": 0.01574842631816864,
                    "y": -8.03220272064209,
                    "z": -0.02151457779109478
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.458073322486598e-05,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 7.300153356482042e-06,
                    "y": -1.1572628721978617e-07,
                    "z": 2.3471404347219504e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.696537118637934e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.477141934941756e-06,
                    "y": 1.711297983320037e-07,
                    "z": 5.64722613489721e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002939360565505922,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 1.2954585145052988e-05,
                    "y": 7.092962277965853e-06,
                    "z": -0.00029356477898545563
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.72123278491199e-05,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 7.75471289671259e-06,
                    "y": -7.195266960025037e-08,
                    "z": 6.676343764411286e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3953404426574707,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "790": {
        "acceleration": [
            -2.9364973670453764e-05,
            -3.1395302357850596e-05,
            -0.0007943926611915231
        ],
        "angular_velocity": [
            -0.004783620126545429,
            -0.0014999022241681814,
            6.546306394739076e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            2.0867958028247813e-06,
            1.2508548024925403e-05,
            4.558423825073987e-05
        ],
        "speed": 1.2681423043749953e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.701756087248214e-06,
                -3.830157311313087e-06,
                0.0005443901172839105
            ],
            "speed_kmh": 0.0019601032718627506,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.296731472015381,
                "transform": {
                    "location": {
                        "x": -174.4930419921875,
                        "y": 4318.458984375,
                        "z": 373.1116638183594
                    },
                    "rotation": {
                        "roll": 0.00019191575120203197,
                        "pitch": -0.0635070949792862,
                        "yaw": -90.04852294921875
                    }
                },
                "velocity": {
                    "x": -0.0044858986511826515,
                    "y": -5.296726703643799,
                    "z": -0.005558442790061235
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00016520594363100827,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 9.103566299017984e-06,
                    "y": 5.834383500769036e-07,
                    "z": 0.00016495388990733773
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00011472929327283055,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 2.7316547857481055e-05,
                    "y": -6.748965824954212e-05,
                    "z": -8.866658026818186e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02614974975586,
                "transform": {
                    "location": {
                        "x": -169.40554809570312,
                        "y": 4302.62353515625,
                        "z": 373.0787048339844
                    },
                    "rotation": {
                        "roll": -0.9340210556983948,
                        "pitch": -0.5132477283477783,
                        "yaw": -26.711015701293945
                    }
                },
                "velocity": {
                    "x": 7.399543762207031,
                    "y": -3.108750343322754,
                    "z": -0.03886941447854042
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.314099300652742e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 3.94511971535394e-06,
                    "y": -6.29782080068253e-05,
                    "z": -2.2284900751401437e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0024716155603528023,
                "transform": {
                    "location": {
                        "x": -113.5316390991211,
                        "y": 4294.9404296875,
                        "z": 372.8571472167969
                    },
                    "rotation": {
                        "roll": 0.0008260711911134422,
                        "pitch": 0.10536248981952667,
                        "yaw": 179.7025909423828
                    }
                },
                "velocity": {
                    "x": 0.0018834637012332678,
                    "y": 8.174801041604951e-05,
                    "z": 0.001598363509401679
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005435383645817637,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": -2.0690633846243145e-06,
                    "y": 1.0173706868954469e-05,
                    "z": -0.0005434392369352281
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008671771502122283,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015563961351290345,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.2817688286304474
                    }
                },
                "velocity": {
                    "x": 4.610419068740157e-07,
                    "y": 5.936040452070301e-06,
                    "z": 0.0008671567193232477
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7595151803107e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 7.064528745104326e-06,
                    "y": -1.5712943422840908e-05,
                    "z": 3.5756424949795473e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1151319742202759,
                "transform": {
                    "location": {
                        "x": -222.0536651611328,
                        "y": 4295.578125,
                        "z": 373.2478942871094
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.19202393293380737,
                        "yaw": 179.4259796142578
                    }
                },
                "velocity": {
                    "x": -1.1150844097137451,
                    "y": 0.002819998422637582,
                    "z": 0.009911632165312767
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005444731214083731,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.701756087248214e-06,
                    "y": -3.830157311313087e-06,
                    "z": 0.0005443901172839105
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.24761438369751,
                "transform": {
                    "location": {
                        "x": -174.50491333007812,
                        "y": 4341.37451171875,
                        "z": 373.1208190917969
                    },
                    "rotation": {
                        "roll": 0.0008738291217014194,
                        "pitch": 0.03393920883536339,
                        "yaw": -89.67317962646484
                    }
                },
                "velocity": {
                    "x": 0.031814079731702805,
                    "y": -7.247544288635254,
                    "z": 0.0015712737804278731
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029068946838379,
                "transform": {
                    "location": {
                        "x": -174.54405212402344,
                        "y": 4272.97412109375,
                        "z": 373.0633239746094
                    },
                    "rotation": {
                        "roll": -0.0012207009131088853,
                        "pitch": -0.16076216101646423,
                        "yaw": -89.87310028076172
                    }
                },
                "velocity": {
                    "x": 0.015946052968502045,
                    "y": -8.029024124145508,
                    "z": -0.02183416299521923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007485926034860313,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 5.873665145372797e-07,
                    "y": -5.9665198932634667e-05,
                    "z": 0.000746210862416774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003893109387718141,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.0808817933138926e-05,
                    "y": -1.2415577543833933e-07,
                    "z": 0.00038916085031814873
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001925082178786397,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": -3.052130296055111e-06,
                    "y": -9.233312994183507e-06,
                    "z": 0.00019226243603043258
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009698096546344459,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 9.73898931988515e-06,
                    "y": 4.810813607036835e-06,
                    "z": 0.0009697488276287913
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39632105827331543,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "795": {
        "acceleration": [
            -0.0005006484570913017,
            -0.0011028106091544032,
            0.001874601119197905
        ],
        "angular_velocity": [
            0.0033171414397656918,
            -0.0015057844575494528,
            3.730535172508098e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            2.514459083613474e-06,
            -1.0639999345585238e-05,
            0.00017442561511415988
        ],
        "speed": 1.0933073243933776e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0425374057376757e-05,
                -7.687304787395988e-06,
                0.00021716905757784843
            ],
            "speed_kmh": 0.0007831980382527927,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.302267074584961,
                "transform": {
                    "location": {
                        "x": -174.4949188232422,
                        "y": 4317.12744140625,
                        "z": 373.11029052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.058500565588474274,
                        "yaw": -90.04702758789062
                    }
                },
                "velocity": {
                    "x": -0.004306921735405922,
                    "y": -5.302261829376221,
                    "z": -0.005798968952149153
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.676830263226293e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 1.990199052670505e-06,
                    "y": 7.454194928868674e-06,
                    "z": 2.5632325559854507e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5238248124660458e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 6.154254151624627e-06,
                    "y": 6.49178417688745e-08,
                    "z": 1.394005539623322e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.955798149108887,
                "transform": {
                    "location": {
                        "x": -167.50132751464844,
                        "y": 4302.119140625,
                        "z": 373.0655517578125
                    },
                    "rotation": {
                        "roll": -0.8613891005516052,
                        "pitch": -0.34701457619667053,
                        "yaw": -12.33244800567627
                    }
                },
                "velocity": {
                    "x": 7.8512187004089355,
                    "y": -1.2838624715805054,
                    "z": -0.06916572153568268
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.970709364395589e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 2.397857542746351e-06,
                    "y": 2.1347086658352055e-06,
                    "z": 6.96331262588501e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005428355070762336,
                "transform": {
                    "location": {
                        "x": -113.53234100341797,
                        "y": 4294.9404296875,
                        "z": 372.8569030761719
                    },
                    "rotation": {
                        "roll": 0.0011406221892684698,
                        "pitch": 0.17981837689876556,
                        "yaw": 179.70260620117188
                    }
                },
                "velocity": {
                    "x": 0.0005299282493069768,
                    "y": -0.00011319255281705409,
                    "z": -3.2153711799765006e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.951330528361723e-05,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": 1.1417753739806358e-05,
                    "y": -1.4725224900757894e-05,
                    "z": -8.755247108638287e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016644042916595936,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015563961351290345,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.2817688286304474
                    }
                },
                "velocity": {
                    "x": 1.0421797014714684e-05,
                    "y": -1.332642204943113e-05,
                    "z": 0.0016643182607367635
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.187363371485844e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 1.4222860045265406e-05,
                    "y": -3.9211932744365185e-05,
                    "z": -5.853164475411177e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0033085918985307217,
                "transform": {
                    "location": {
                        "x": -222.31124877929688,
                        "y": 4295.580078125,
                        "z": 373.2490539550781
                    },
                    "rotation": {
                        "roll": -0.00024414050858467817,
                        "pitch": 0.15730607509613037,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": -0.0003646108089014888,
                    "y": -0.00023903751571197063,
                    "z": -0.003279740922152996
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00021755500347353518,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0425374057376757e-05,
                    "y": -7.687304787395988e-06,
                    "z": 0.00021716905757784843
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.068490028381348,
                "transform": {
                    "location": {
                        "x": -174.49632263183594,
                        "y": 4339.451171875,
                        "z": 373.1211242675781
                    },
                    "rotation": {
                        "roll": 0.0005106225144118071,
                        "pitch": 0.02025151066482067,
                        "yaw": -89.75949096679688
                    }
                },
                "velocity": {
                    "x": 0.03041916713118553,
                    "y": -8.068432807922363,
                    "z": 0.0014741038903594017
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027871131896973,
                "transform": {
                    "location": {
                        "x": -174.5399932861328,
                        "y": 4270.96728515625,
                        "z": 373.05767822265625
                    },
                    "rotation": {
                        "roll": -0.0007019047043286264,
                        "pitch": -0.16070067882537842,
                        "yaw": -89.89209747314453
                    }
                },
                "velocity": {
                    "x": 0.017213402315974236,
                    "y": -8.02782154083252,
                    "z": -0.02250683307647705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007252618088386953,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": -1.416530449205311e-05,
                    "y": -6.742900495737558e-06,
                    "z": 0.0007250920752994716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00015179596084635705,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 8.7410953710787e-06,
                    "y": -1.41814231469084e-08,
                    "z": 0.00015154408174566925
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005381507216952741,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 2.3386814063997008e-05,
                    "y": 1.629330472496804e-05,
                    "z": 0.0005373953608796
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003295295755378902,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 9.026675797940698e-06,
                    "y": 2.1284517970343586e-07,
                    "z": 0.0003294058551546186
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39515456557273865,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "800": {
        "acceleration": [
            0.0004840433248318732,
            0.0012704601977020502,
            0.0024032006040215492
        ],
        "angular_velocity": [
            -0.017474809661507607,
            0.005533513147383928,
            0.00010600408131722361
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            2.3311748009291478e-05,
            5.496328594745137e-05,
            -0.00043822810403071344
        ],
        "speed": 5.9702599586534006e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.159466233337298e-06,
                -5.59179761694395e-06,
                0.0008645786438137293
            ],
            "speed_kmh": 0.0031126868185724237,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.990109920501709,
                "transform": {
                    "location": {
                        "x": -174.49655151367188,
                        "y": 4315.845703125,
                        "z": 373.1088562011719
                    },
                    "rotation": {
                        "roll": -9.155394218396395e-05,
                        "pitch": -0.06854094564914703,
                        "yaw": -90.04451751708984
                    }
                },
                "velocity": {
                    "x": -0.0032146030571311712,
                    "y": -4.990105628967285,
                    "z": -0.005865669343620539
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.400353671167977e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 6.619170108024264e-06,
                    "y": -5.708100161427865e-06,
                    "z": 3.286098944954574e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.053175745066255e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 2.2301561330095865e-05,
                    "y": -7.38832022761926e-05,
                    "z": 4.73276995762717e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.1655912399292,
                "transform": {
                    "location": {
                        "x": -165.47999572753906,
                        "y": 4301.92578125,
                        "z": 373.0546875
                    },
                    "rotation": {
                        "roll": -0.556854248046875,
                        "pitch": -0.16927939653396606,
                        "yaw": -4.3629469871521
                    }
                },
                "velocity": {
                    "x": 8.15312385559082,
                    "y": -0.4504217505455017,
                    "z": -0.023960256949067116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00022412175894714892,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -2.6300549293978293e-08,
                    "y": 2.069268339255359e-05,
                    "z": -0.0002231644612038508
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00045645004138350487,
                "transform": {
                    "location": {
                        "x": -113.53265380859375,
                        "y": 4294.9404296875,
                        "z": 372.8567810058594
                    },
                    "rotation": {
                        "roll": -3.0517559935105965e-05,
                        "pitch": 0.2115924209356308,
                        "yaw": 179.70262145996094
                    }
                },
                "velocity": {
                    "x": 0.0003086303477175534,
                    "y": -3.770840339711867e-05,
                    "z": -0.00033417364466004074
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002660920436028391,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": 1.2810155567422044e-05,
                    "y": 1.783937113941647e-05,
                    "z": -0.0002651841496117413
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009248571004718542,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015563961351290345,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.2817688286304474
                    }
                },
                "velocity": {
                    "x": 9.910873814078514e-06,
                    "y": 1.9253291611676104e-05,
                    "z": 0.0009246035479009151
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00011935638030990958,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 8.960738341556862e-06,
                    "y": -6.486667552962899e-05,
                    "z": -9.978959860745817e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003209020651411265,
                "transform": {
                    "location": {
                        "x": -222.3114776611328,
                        "y": 4295.580078125,
                        "z": 373.2487487792969
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.1927684247493744,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 0.00011872604227392003,
                    "y": 0.0002366584085393697,
                    "z": -0.00018131481192540377
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008646352216601372,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.159466233337298e-06,
                    "y": -5.59179761694395e-06,
                    "z": 0.0008645786438137293
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.21100902557373,
                "transform": {
                    "location": {
                        "x": -174.489990234375,
                        "y": 4337.39892578125,
                        "z": 373.12127685546875
                    },
                    "rotation": {
                        "roll": 0.0008117027464322746,
                        "pitch": 0.00787520781159401,
                        "yaw": -89.8502426147461
                    }
                },
                "velocity": {
                    "x": 0.015116152353584766,
                    "y": -8.210994720458984,
                    "z": 0.0011508845491334796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031742095947266,
                "transform": {
                    "location": {
                        "x": -174.53623962402344,
                        "y": 4268.95947265625,
                        "z": 373.0519104003906
                    },
                    "rotation": {
                        "roll": -0.00015258601342793554,
                        "pitch": -0.1687944531440735,
                        "yaw": -89.85784912109375
                    }
                },
                "velocity": {
                    "x": 0.019777923822402954,
                    "y": -8.0316801071167,
                    "z": -0.024700697511434555
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012015486136078835,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.7090142137021758e-05,
                    "y": -9.0635716333054e-05,
                    "z": 0.0011980034178122878
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005350818973965943,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.1465176612546202e-05,
                    "y": 2.804948451284872e-07,
                    "z": 0.000534958962816745
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009308354929089546,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 6.60318846712471e-06,
                    "y": -8.066627742664423e-06,
                    "z": 0.0009307771106250584
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011623201426118612,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.26430013551726e-05,
                    "y": 7.233780365822895e-07,
                    "z": 0.0011622511083260179
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39778369665145874,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "805": {
        "acceleration": [
            0.0004829607787542045,
            -0.0013745755422860384,
            0.002650192240253091
        ],
        "angular_velocity": [
            0.007922029122710228,
            0.0013445429503917694,
            2.040940489678178e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            1.047804926201934e-05,
            -2.257428968732711e-05,
            -0.00020871659216936678
        ],
        "speed": 2.488750833700849e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.245743629231583e-06,
                2.2003252979629906e-06,
                5.201187013881281e-05
            ],
            "speed_kmh": 0.0001897465833094068,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5961952209472656,
                "transform": {
                    "location": {
                        "x": -174.5,
                        "y": 4314.84326171875,
                        "z": 373.1078186035156
                    },
                    "rotation": {
                        "roll": -0.00781250186264515,
                        "pitch": -0.11612004041671753,
                        "yaw": -88.4271240234375
                    }
                },
                "velocity": {
                    "x": 0.08640825748443604,
                    "y": -2.594755172729492,
                    "z": -0.0029002188239246607
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001266157196369022,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 1.1401213669159915e-05,
                    "y": 5.810372840642231e-06,
                    "z": 0.00012596741726156324
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00036718396586366,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 3.903731737864291e-07,
                    "y": 7.729511708021164e-06,
                    "z": -0.00036710238782688975
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.990673542022705,
                "transform": {
                    "location": {
                        "x": -163.464599609375,
                        "y": 4301.86572265625,
                        "z": 373.0484619140625
                    },
                    "rotation": {
                        "roll": -0.2712096571922302,
                        "pitch": -0.21450208127498627,
                        "yaw": -1.20526123046875
                    }
                },
                "velocity": {
                    "x": 7.989840984344482,
                    "y": -0.11245172470808029,
                    "z": -0.025662412866950035
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00036607118090614676,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 7.7737495303154e-06,
                    "y": 2.3031283490126953e-05,
                    "z": -0.00036526325857266784
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00022912674467079341,
                "transform": {
                    "location": {
                        "x": -113.53273010253906,
                        "y": 4294.9404296875,
                        "z": 372.85675048828125
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.21896901726722717,
                        "yaw": 179.70266723632812
                    }
                },
                "velocity": {
                    "x": 9.628861880628392e-05,
                    "y": -6.649351416854188e-05,
                    "z": -0.00019699284166563302
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023093874915502965,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": 2.936851160484366e-05,
                    "y": 2.7651898562908173e-05,
                    "z": 0.00022738859115634114
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005422975518740714,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0016479488695040345,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.281829833984375
                    }
                },
                "velocity": {
                    "x": 8.034780876187142e-06,
                    "y": 1.7208149074576795e-05,
                    "z": 0.0005419648950919509
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00017084990395233035,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 1.3907886568631511e-05,
                    "y": -4.9909176595974714e-05,
                    "z": 0.00016280458658002317
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010926441755145788,
                "transform": {
                    "location": {
                        "x": -222.31163024902344,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 3.6125034966971725e-05,
                    "y": -0.0002377511846134439,
                    "z": 0.0010658520041033626
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.270738620311022e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.245743629231583e-06,
                    "y": 2.2003252979629906e-06,
                    "z": 5.201187013881281e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.923933982849121,
                "transform": {
                    "location": {
                        "x": -174.48670959472656,
                        "y": 4335.38037109375,
                        "z": 373.1212463378906
                    },
                    "rotation": {
                        "roll": 0.0001406408700859174,
                        "pitch": -0.014739547856152058,
                        "yaw": -89.92613983154297
                    }
                },
                "velocity": {
                    "x": 0.007860655896365643,
                    "y": -7.923929691314697,
                    "z": -0.0023857306223362684
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029454231262207,
                "transform": {
                    "location": {
                        "x": -174.53170776367188,
                        "y": 4266.95166015625,
                        "z": 373.0458984375
                    },
                    "rotation": {
                        "roll": 0.0006619712221436203,
                        "pitch": -0.17767369747161865,
                        "yaw": -89.87762451171875
                    }
                },
                "velocity": {
                    "x": 0.01899789087474346,
                    "y": -8.02939224243164,
                    "z": -0.02519080601632595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005050377221778035,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": -1.2335516657913104e-05,
                    "y": 6.1807850215700455e-06,
                    "z": 0.0005048492457717657
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003368706675246358,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 9.226836482412182e-06,
                    "y": 1.728400275169406e-05,
                    "z": 0.000336300436174497
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009255651966668665,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 5.665756816597423e-06,
                    "y": 1.606826663191896e-05,
                    "z": 0.0009254083852283657
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005900926771573722,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.0050088349089492e-05,
                    "y": 3.6212935583535e-07,
                    "z": 0.0005900069954805076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3977557420730591,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "810": {
        "acceleration": [
            -4.095581971341744e-06,
            0.00020140258129686117,
            -0.0004611175390891731
        ],
        "angular_velocity": [
            -0.0009715026244521141,
            -0.00021993007976561785,
            5.314922600518912e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            6.02543332206551e-06,
            1.042848907673033e-05,
            -2.8764401577063836e-05
        ],
        "speed": 1.2044053766989801e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.8715718195308e-06,
                -1.6796617273939773e-05,
                0.0007797107682563365
            ],
            "speed_kmh": 0.002807834894569712,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.46990966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007087351405061781,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.6455078125,
                        "z": 373.1078796386719
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": -0.13592076301574707,
                        "yaw": -87.5490493774414
                    }
                },
                "velocity": {
                    "x": 9.205628157360479e-05,
                    "y": 6.671738810837269e-05,
                    "z": -0.0006995569565333426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.305036655860022e-06,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.332153472816572e-06,
                    "y": 2.290238576563297e-08,
                    "z": 5.729110853280872e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00025933660799637437,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 5.200790110393427e-05,
                    "y": 6.062552529328968e-06,
                    "z": -0.00025399585138075054
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.061601638793945,
                "transform": {
                    "location": {
                        "x": -161.46131896972656,
                        "y": 4301.85498046875,
                        "z": 373.0418395996094
                    },
                    "rotation": {
                        "roll": -0.1156005859375,
                        "pitch": -0.19448962807655334,
                        "yaw": -0.1437682956457138
                    }
                },
                "velocity": {
                    "x": 8.06155776977539,
                    "y": 0.0016481108032166958,
                    "z": -0.02666635997593403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00025838863803073764,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -3.1689926345279673e-06,
                    "y": 1.6807678548502736e-05,
                    "z": -0.0002578219282440841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003926440258510411,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 7.753264071652666e-05,
                    "y": 5.787773261545226e-05,
                    "z": -0.00038053671596571803
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9576229280792177e-05,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": 9.936392416420858e-06,
                    "y": -4.6692898649780545e-06,
                    "z": -2.7463051083032042e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001193282543681562,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0016479488695040345,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.281829833984375
                    }
                },
                "velocity": {
                    "x": 6.396248863893561e-06,
                    "y": 4.7433122745133005e-06,
                    "z": 0.0011932558845728636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00039000046672299504,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 4.23701640102081e-05,
                    "y": -0.00011915461072931066,
                    "z": -0.00036892725620418787
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001462319167330861,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24853515625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.21978864073753357,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.799993151507806e-05,
                    "y": 3.3714484743541107e-05,
                    "z": 0.0014618196291849017
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007799541344866157,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.8715718195308e-06,
                    "y": -1.6796617273939773e-05,
                    "z": 0.0007797107682563365
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.56193733215332,
                "transform": {
                    "location": {
                        "x": -174.48460388183594,
                        "y": 4333.44775390625,
                        "z": 373.1208190917969
                    },
                    "rotation": {
                        "roll": 8.369400165975094e-05,
                        "pitch": -0.02292211353778839,
                        "yaw": -89.95834350585938
                    }
                },
                "velocity": {
                    "x": 0.0035413363948464394,
                    "y": -7.561936378479004,
                    "z": -0.0016261195996776223
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029702186584473,
                "transform": {
                    "location": {
                        "x": -174.52764892578125,
                        "y": 4264.9443359375,
                        "z": 373.0397033691406
                    },
                    "rotation": {
                        "roll": -0.00015258608618751168,
                        "pitch": -0.17657403647899628,
                        "yaw": -89.84932708740234
                    }
                },
                "velocity": {
                    "x": 0.020787684246897697,
                    "y": -8.029635429382324,
                    "z": -0.025360774248838425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.5824714612099342e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.74986983742565e-06,
                    "y": -1.1404247288737679e-06,
                    "z": 2.460802352288738e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00021852472855243832,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 4.532933246537141e-07,
                    "y": -7.616233688167995e-06,
                    "z": 0.0002183914912166074
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.628070044214837e-05,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 7.371008450718364e-06,
                    "y": -2.4191524516936624e-07,
                    "z": 3.552321868482977e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3987200856208801,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "815": {
        "acceleration": [
            -0.00044526642886921763,
            0.0007777241989970207,
            0.007340114563703537
        ],
        "angular_velocity": [
            0.006346459500491619,
            -0.0015278124483302236,
            2.6616218747221865e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            2.156160689992248e-06,
            -1.9300352505524643e-05,
            9.11498864297755e-05
        ],
        "speed": 1.942041801194246e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                6.4724681578809395e-06,
                -1.880603304016404e-05,
                0.00046068726805970073
            ],
            "speed_kmh": 0.001660018978815889,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5609636306762695,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.0744934082031
                    },
                    "rotation": {
                        "roll": 0.00016244378639385104,
                        "pitch": 0.030216755345463753,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": -1.7721189578878693e-05,
                    "y": -0.00029109366005286574,
                    "z": -0.5609635710716248
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00020267078070901334,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.107421875
                    },
                    "rotation": {
                        "roll": -0.003021240932866931,
                        "pitch": -0.0794009417295456,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -0.00013724432210437953,
                    "y": 1.6891397535800934e-05,
                    "z": 0.00014816923066973686
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00023945668363012373,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 4.614256340573775e-06,
                    "y": 1.1078761417593341e-05,
                    "z": 0.0002391557500232011
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9908738977392204e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -4.089809863216942e-06,
                    "y": -4.015178546978859e-06,
                    "z": 1.906593024614267e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.408086776733398,
                "transform": {
                    "location": {
                        "x": -159.41921997070312,
                        "y": 4301.857421875,
                        "z": 373.0348815917969
                    },
                    "rotation": {
                        "roll": -0.0344543419778347,
                        "pitch": -0.15469694137573242,
                        "yaw": 0.08393263816833496
                    }
                },
                "velocity": {
                    "x": 8.408035278320312,
                    "y": 0.008665581233799458,
                    "z": -0.028179951012134552
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002448453742545098,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -1.465417426516069e-06,
                    "y": 3.7620473449351266e-05,
                    "z": 0.00024193347780965269
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00047014880692586303,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": 1.5561282680209843e-06,
                    "y": 3.0478988264803775e-05,
                    "z": -0.0004691572394222021
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004672316135838628,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0016479488695040345,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.281829833984375
                    }
                },
                "velocity": {
                    "x": 7.93747585703386e-06,
                    "y": -2.5419176381547004e-05,
                    "z": 0.00046647212002426386
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00023116116062738,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 3.356169690960087e-05,
                    "y": 4.822028859052807e-05,
                    "z": 0.0002235707943327725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008603908936493099,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 9.91195429378422e-06,
                    "y": 5.062023046775721e-05,
                    "z": 0.0008588433265686035
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004611163749359548,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.4724681578809395e-06,
                    "y": -1.880603304016404e-05,
                    "z": 0.00046068726805970073
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.331068515777588,
                "transform": {
                    "location": {
                        "x": -174.484375,
                        "y": 4331.58837890625,
                        "z": 373.1202392578125
                    },
                    "rotation": {
                        "roll": 0.00039233401184901595,
                        "pitch": -0.02294943481683731,
                        "yaw": -89.99053192138672
                    }
                },
                "velocity": {
                    "x": -3.659826688817702e-05,
                    "y": -7.33106803894043,
                    "z": -0.0021380805410444736
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030326843261719,
                "transform": {
                    "location": {
                        "x": -174.52210998535156,
                        "y": 4262.9365234375,
                        "z": 373.0333251953125
                    },
                    "rotation": {
                        "roll": 0.0011786270188167691,
                        "pitch": -0.18252313137054443,
                        "yaw": -89.87283325195312
                    }
                },
                "velocity": {
                    "x": 0.017601236701011658,
                    "y": -8.030264854431152,
                    "z": -0.026143087074160576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000661308818962425,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.344274733128259e-05,
                    "y": -8.081728083197959e-06,
                    "z": 0.0006611227872781456
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004168312589172274,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.1106393685622606e-05,
                    "y": -2.487013034624397e-06,
                    "z": 0.00041667584446258843
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001043496886268258,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 1.5445612007169984e-05,
                    "y": -1.415989754605107e-05,
                    "z": 0.0010432865237817168
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008743703947402537,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.1279173122602515e-05,
                    "y": 5.396390179157606e-07,
                    "z": 0.00087429751874879
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3969965875148773,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "820": {
        "acceleration": [
            0.0004237458051647991,
            0.0016210428439080715,
            -0.003095630556344986
        ],
        "angular_velocity": [
            -0.01869926042854786,
            0.006030263379216194,
            0.00011037751391995698
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            2.5676339646452107e-05,
            5.8174489822704345e-05,
            -0.0002218098525190726
        ],
        "speed": 6.358888018963614e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.22134974598884583,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.09765625
                    },
                    "rotation": {
                        "roll": -0.00045776276965625584,
                        "pitch": 0.030373848974704742,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 2.7274845706415363e-05,
                    "y": 0.00010623058187775314,
                    "z": 0.22134971618652344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00023638793209102005,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 2.985979153891094e-05,
                    "y": -7.299240678548813e-07,
                    "z": 0.00023449331638403237
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2503756806836464e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 2.9456614356604405e-06,
                    "y": -6.376838427968323e-06,
                    "z": 1.0344222573621664e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.485881805419922,
                "transform": {
                    "location": {
                        "x": -157.183349609375,
                        "y": 4301.85888671875,
                        "z": 373.0271911621094
                    },
                    "rotation": {
                        "roll": -0.008361817337572575,
                        "pitch": -0.06210007518529892,
                        "yaw": 0.02552231401205063
                    }
                },
                "velocity": {
                    "x": 9.485821723937988,
                    "y": 0.0033826681319624186,
                    "z": -0.033732641488313675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012110059469705448,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 9.085982810574933e-08,
                    "y": 9.926497114065569e-06,
                    "z": -0.0001206930392072536
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.801829972071573e-05,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": 1.8668471966520883e-05,
                    "y": -3.827246109722182e-05,
                    "z": 7.703199662500992e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015346957370638847,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0016479488695040345,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.281829833984375
                    }
                },
                "velocity": {
                    "x": 8.532926585758105e-06,
                    "y": 1.2236619113537017e-05,
                    "z": 0.0015346232103183866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00018645101226866245,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 3.860931610688567e-05,
                    "y": 1.6754927855799906e-05,
                    "z": 0.0001816385774873197
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000831230659969151,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.0677426871552598e-05,
                    "y": -1.0031062629423104e-06,
                    "z": 0.0008311615092679858
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.012792587280273,
                "transform": {
                    "location": {
                        "x": -174.48422241210938,
                        "y": 4329.79345703125,
                        "z": 373.11962890625
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": -0.03277807682752609,
                        "yaw": -90.0099868774414
                    }
                },
                "velocity": {
                    "x": -0.002181251533329487,
                    "y": -7.012792110443115,
                    "z": -0.0017319488106295466
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0299654006958,
                "transform": {
                    "location": {
                        "x": -174.5183563232422,
                        "y": 4260.9287109375,
                        "z": 373.02685546875
                    },
                    "rotation": {
                        "roll": -3.052258034585975e-05,
                        "pitch": -0.1943666785955429,
                        "yaw": -89.85096740722656
                    }
                },
                "velocity": {
                    "x": 0.01926136016845703,
                    "y": -8.029903411865234,
                    "z": -0.02503800392150879
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015032356895972043,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 8.926689588406589e-06,
                    "y": -5.2564778343366925e-06,
                    "z": -0.00014996618847362697
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001726684276945889,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.60536613597651e-06,
                    "y": 2.1272815047268523e-06,
                    "z": 0.00017248773656319827
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.378845172439469e-05,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 9.883008715405595e-06,
                    "y": 6.036355443939101e-06,
                    "z": -7.4839795161096845e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003762911364901811,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 7.268525678227888e-06,
                    "y": -6.6632296693569515e-06,
                    "z": 0.0003761619154829532
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39749154448509216,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "825": {
        "acceleration": [
            -0.0004764534533023834,
            -0.0011161910369992256,
            0.001415120786987245
        ],
        "angular_velocity": [
            -0.0011167944176122546,
            -0.00242932653054595,
            5.27022457390558e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            -2.2317469756671926e-06,
            3.885535534209339e-06,
            -0.00032934322371147573
        ],
        "speed": 4.480857166994181e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.5073418580868747e-05,
                -1.6294199667754583e-05,
                0.0010285098105669022
            ],
            "speed_kmh": 0.003703497509871537,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4708341956138611,
                "transform": {
                    "location": {
                        "x": -174.5643768310547,
                        "y": 4349.27587890625,
                        "z": 373.12603759765625
                    },
                    "rotation": {
                        "roll": 0.000943901832215488,
                        "pitch": 0.014514151029288769,
                        "yaw": -90.04735565185547
                    }
                },
                "velocity": {
                    "x": 0.008990839123725891,
                    "y": -0.46942347288131714,
                    "z": 0.035293128341436386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00028942880453541875,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -2.1275802282616496e-05,
                    "y": -2.852426860044943e-06,
                    "z": 0.00028863167972303927
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001921385119203478,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 8.65362562763039e-06,
                    "y": -4.853316681874276e-07,
                    "z": 0.00019194291962776333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004885988892056048,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -6.430409484892152e-06,
                    "y": -8.88574868440628e-06,
                    "z": 0.0004884757800027728
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.72890567779541,
                "transform": {
                    "location": {
                        "x": -154.65147399902344,
                        "y": 4301.857421875,
                        "z": 373.0181884765625
                    },
                    "rotation": {
                        "roll": 0.005617393180727959,
                        "pitch": -0.021330678835511208,
                        "yaw": -0.0477294921875
                    }
                },
                "velocity": {
                    "x": 10.728827476501465,
                    "y": -0.016209742054343224,
                    "z": -0.037621427327394485
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021616653248202056,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -2.473965139415668e-07,
                    "y": 7.870822287259216e-07,
                    "z": 0.0002161649608751759
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018404530419502407,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": 1.6230493201874197e-05,
                    "y": -2.4810828108456917e-05,
                    "z": -0.00018164158973377198
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008219556766562164,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0016479488695040345,
                        "pitch": -0.20058898627758026,
                        "yaw": -0.281829833984375
                    }
                },
                "velocity": {
                    "x": 8.594356586399954e-06,
                    "y": 1.2607893040694762e-05,
                    "z": 0.000821813999209553
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00022719505068380386,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 2.199653499701526e-05,
                    "y": 4.709260610979982e-05,
                    "z": 0.00022116968466434628
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001592413755133748,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 9.717158718558494e-06,
                    "y": 1.4212134374247398e-05,
                    "z": 0.0015923206228762865
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010287492768839002,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.5073418580868747e-05,
                    "y": -1.6294199667754583e-05,
                    "z": 0.0010285098105669022
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.687985420227051,
                "transform": {
                    "location": {
                        "x": -174.484130859375,
                        "y": 4328.220703125,
                        "z": 373.1191711425781
                    },
                    "rotation": {
                        "roll": -3.0515759135596454e-05,
                        "pitch": -0.0710749477148056,
                        "yaw": -90.01959991455078
                    }
                },
                "velocity": {
                    "x": -0.002318953862413764,
                    "y": -4.6879801750183105,
                    "z": -0.006675682030618191
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029128074645996,
                "transform": {
                    "location": {
                        "x": -174.5128936767578,
                        "y": 4258.9208984375,
                        "z": 373.0201110839844
                    },
                    "rotation": {
                        "roll": 0.0004992536269128323,
                        "pitch": -0.1937861144542694,
                        "yaw": -89.87321472167969
                    }
                },
                "velocity": {
                    "x": 0.0194899532943964,
                    "y": -8.029060363769531,
                    "z": -0.02668796479701996
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007805785280652344,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.6951524230535142e-05,
                    "y": 7.799090781190898e-06,
                    "z": 0.000780355476308614
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007943888776935637,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 6.132013822934823e-06,
                    "y": 2.0524968931567855e-05,
                    "z": 0.0007940999930724502
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008189178770408034,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 8.662343134346884e-06,
                    "y": -2.4552078684791923e-05,
                    "z": 0.0008185039041563869
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012729528825730085,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.1616237316047773e-05,
                    "y": 6.380171726050321e-06,
                    "z": 0.0012728838482871652
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39498117566108704,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "830": {
        "acceleration": [
            9.44733642427309e-07,
            -0.00011871271271957085,
            -0.00096286297775805
        ],
        "angular_velocity": [
            0.0001226339372806251,
            -0.0012415937380865216,
            4.7898127377266064e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            2.3074447597082326e-07,
            -5.698579457202868e-07,
            -0.0007365354103967547
        ],
        "speed": 6.148016684196581e-07,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.006861324043712e-06,
                9.872200280369725e-06,
                0.00014335193554870784
            ],
            "speed_kmh": 0.0005179039360242216,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.689560890197754,
                "transform": {
                    "location": {
                        "x": -174.56007385253906,
                        "y": 4348.8056640625,
                        "z": 373.12939453125
                    },
                    "rotation": {
                        "roll": 0.0008307649986818433,
                        "pitch": -0.16119928658008575,
                        "yaw": -89.82772827148438
                    }
                },
                "velocity": {
                    "x": 0.022815989330410957,
                    "y": -2.6894633769989014,
                    "z": -0.0019679926335811615
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.847216329537332e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -1.549439048176282e-06,
                    "y": -1.0729860377978184e-06,
                    "z": 7.84495277912356e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.041795419761911e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.0980190685077105e-06,
                    "y": 1.089978832169436e-05,
                    "z": 8.947747846832499e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00033495554816909134,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.0612122423481196e-05,
                    "y": 2.141746153938584e-05,
                    "z": 0.0003341016126796603
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.649250984191895,
                "transform": {
                    "location": {
                        "x": -151.89242553710938,
                        "y": 4301.8505859375,
                        "z": 373.00830078125
                    },
                    "rotation": {
                        "roll": 0.007530135568231344,
                        "pitch": -0.03359770029783249,
                        "yaw": -0.1720275729894638
                    }
                },
                "velocity": {
                    "x": 11.649124145507812,
                    "y": -0.03494705259799957,
                    "z": -0.041754331439733505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001525364350527525,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -4.856027771893423e-06,
                    "y": -3.4123742807423696e-05,
                    "z": -0.00014859122165944427
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001613384811207652,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": -1.301690917898668e-05,
                    "y": -7.145791187213035e-06,
                    "z": -0.00016065366799011827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010343072062823921,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.281890869140625
                    }
                },
                "velocity": {
                    "x": 4.474557954381453e-06,
                    "y": 1.2505026461440139e-05,
                    "z": 0.00010257444228045642
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00020063570991624147,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 4.685819021688076e-06,
                    "y": 2.891392432502471e-05,
                    "z": 0.00019848605734296143
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005044865538366139,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 2.342201696592383e-06,
                    "y": -3.123044371022843e-05,
                    "z": -0.0005035134963691235
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00014386219845619053,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.006861324043712e-06,
                    "y": 9.872200280369725e-06,
                    "z": 0.00014335193554870784
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001671843638177961,
                "transform": {
                    "location": {
                        "x": -174.48422241210938,
                        "y": 4327.7099609375,
                        "z": 373.1192626953125
                    },
                    "rotation": {
                        "roll": -0.00012206997780594975,
                        "pitch": -0.14011448621749878,
                        "yaw": -90.0084228515625
                    }
                },
                "velocity": {
                    "x": -3.255903720855713e-05,
                    "y": 3.50122427335009e-05,
                    "z": -0.0001602019474375993
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03031063079834,
                "transform": {
                    "location": {
                        "x": -174.50843811035156,
                        "y": 4256.9130859375,
                        "z": 373.0132751464844
                    },
                    "rotation": {
                        "roll": 0.0010327519848942757,
                        "pitch": -0.1958010196685791,
                        "yaw": -89.85041046142578
                    }
                },
                "velocity": {
                    "x": 0.019229765981435776,
                    "y": -8.030241966247559,
                    "z": -0.02716098167002201
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00038669034256599844,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 9.717419970911578e-07,
                    "y": -9.117447916651145e-06,
                    "z": -0.0003865816106554121
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00027119426522403955,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 9.387843419972342e-06,
                    "y": -2.3910811250971165e-06,
                    "z": 0.00027102118474431336
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011359580093994737,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 9.806453817873262e-06,
                    "y": 9.43769464356592e-06,
                    "z": 0.0011358765186741948
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005797070334665477,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 9.966902325686533e-06,
                    "y": -4.998000591172058e-08,
                    "z": 0.0005796213517896831
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39629772305488586,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "835": {
        "acceleration": [
            0.0005114525556564331,
            -0.0009252417366951704,
            -0.008617480285465717
        ],
        "angular_velocity": [
            0.014852914027869701,
            0.006219599861651659,
            -5.792830961581785e-06
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            2.5572626327630132e-05,
            -4.626208828995004e-05,
            -0.0004308740026317537
        ],
        "speed": 5.285962571036362e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.229051486006938e-05,
                -2.7960340958088636e-06,
                0.0010270297061651945
            ],
            "speed_kmh": 0.0036975853795588164,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8173937797546387,
                "transform": {
                    "location": {
                        "x": -174.55374145507812,
                        "y": 4347.986328125,
                        "z": 373.1287536621094
                    },
                    "rotation": {
                        "roll": 0.00048653490375727415,
                        "pitch": -0.09735067933797836,
                        "yaw": -89.71438598632812
                    }
                },
                "velocity": {
                    "x": 0.03449801728129387,
                    "y": -3.8172378540039062,
                    "z": -0.0004588985466398299
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.041222488624044e-06,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -4.314829311624635e-07,
                    "y": -2.2010597149346722e-06,
                    "z": -6.674426913377829e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004466009559109807,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.6432702977908775e-05,
                    "y": -8.988195622805506e-05,
                    "z": 0.00043715396896004677
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.762134552001953,
                "transform": {
                    "location": {
                        "x": -148.8271026611328,
                        "y": 4301.83935546875,
                        "z": 372.9971923828125
                    },
                    "rotation": {
                        "roll": 0.007864456623792648,
                        "pitch": -0.03119347244501114,
                        "yaw": -0.2398986667394638
                    }
                },
                "velocity": {
                    "x": 12.76193618774414,
                    "y": -0.054740384221076965,
                    "z": -0.04563170671463013
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002733360743150115,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -7.157735581131419e-06,
                    "y": -1.6775626136222854e-05,
                    "z": -0.0002727269020397216
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019744747260119766,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": 1.8970184100908227e-05,
                    "y": -4.451537461136468e-05,
                    "z": 0.0001914262684294954
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008755329763516784,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -0.20065045356750488,
                        "yaw": -0.281890869140625
                    }
                },
                "velocity": {
                    "x": 8.754990631132387e-06,
                    "y": 8.448140761174727e-06,
                    "z": 0.0008754484006203711
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005980049027130008,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 3.778103564400226e-05,
                    "y": -2.9237027774797752e-05,
                    "z": 0.0005960936541669071
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010743162129074335,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 3.586299726521247e-06,
                    "y": -2.060647966573015e-05,
                    "z": 0.0010741126025095582
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010271070059388876,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.229051486006938e-05,
                    "y": -2.7960340958088636e-06,
                    "z": 0.0010270297061651945
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.897412896156311,
                "transform": {
                    "location": {
                        "x": -174.48452758789062,
                        "y": 4327.58837890625,
                        "z": 373.1183776855469
                    },
                    "rotation": {
                        "roll": -0.00018310446466784924,
                        "pitch": -0.03615901991724968,
                        "yaw": -89.97295379638672
                    }
                },
                "velocity": {
                    "x": 0.0002483701682649553,
                    "y": -0.8974125385284424,
                    "z": -0.0007676219684071839
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029291152954102,
                "transform": {
                    "location": {
                        "x": -174.50390625,
                        "y": 4254.9052734375,
                        "z": 373.0062561035156
                    },
                    "rotation": {
                        "roll": 0.0010106678819283843,
                        "pitch": -0.20782215893268585,
                        "yaw": -89.8789291381836
                    }
                },
                "velocity": {
                    "x": 0.01906941644847393,
                    "y": -8.029215812683105,
                    "z": -0.02907215617597103
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006600241176784039,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 3.71150667888287e-06,
                    "y": 3.255139972679899e-06,
                    "z": 0.0006600056658498943
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7732916603563353e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.245316737680696e-06,
                    "y": -6.366299771798367e-07,
                    "z": 1.6172705727512948e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005925099248997867,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 2.3104770662030205e-05,
                    "y": 1.2294773341636756e-06,
                    "z": 0.0005920580006204545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39844217896461487,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "840": {
        "acceleration": [
            3.500133607303724e-05,
            0.00017654334078542888,
            -0.0004935706965625286
        ],
        "angular_velocity": [
            -0.0029277363792061806,
            -0.0014497460797429085,
            6.400504935299978e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            5.520134891412454e-07,
            1.120120123232482e-05,
            -0.0004566578718367964
        ],
        "speed": 1.1214795046688501e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                6.729178039677208e-06,
                1.3673130752067664e-06,
                0.0006035369005985558
            ],
            "speed_kmh": 0.002172873462788515,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.925360679626465,
                "transform": {
                    "location": {
                        "x": -174.5446014404297,
                        "y": 4346.88623046875,
                        "z": 373.1290283203125
                    },
                    "rotation": {
                        "roll": 0.0016156584024429321,
                        "pitch": -0.0864906832575798,
                        "yaw": -89.61589813232422
                    }
                },
                "velocity": {
                    "x": 0.044642169028520584,
                    "y": -4.9251580238342285,
                    "z": 0.002142419805750251
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.0140893765492365e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 6.30070371698821e-06,
                    "y": -4.892423817182134e-07,
                    "z": 5.98079313931521e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00022043951321393251,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.112771072570467e-06,
                    "y": 4.228070622502855e-07,
                    "z": 0.00022032432025298476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00012959231389686465,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 2.3925527784740552e-05,
                    "y": -7.33325578039512e-05,
                    "z": -0.00010413486597826704
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.513402938842773,
                "transform": {
                    "location": {
                        "x": -145.5250701904297,
                        "y": 4301.82421875,
                        "z": 372.9848327636719
                    },
                    "rotation": {
                        "roll": 0.004899476654827595,
                        "pitch": -0.07851985096931458,
                        "yaw": -0.2826232314109802
                    }
                },
                "velocity": {
                    "x": 13.51314926147461,
                    "y": -0.06661549210548401,
                    "z": -0.04917321726679802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.15631972020492e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 1.0143593272005091e-06,
                    "y": 6.965361194488651e-07,
                    "z": -9.155492443824187e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00040583539521321654,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0004395267169456929,
                        "pitch": 0.22648222744464874,
                        "yaw": 179.63047790527344
                    }
                },
                "velocity": {
                    "x": 3.5008415579795837e-06,
                    "y": 1.3835214303981047e-05,
                    "z": -0.0004055843746755272
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007885426748543978,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -0.20065045356750488,
                        "yaw": -0.281890869140625
                    }
                },
                "velocity": {
                    "x": 9.617134310246911e-06,
                    "y": -8.401984814554453e-07,
                    "z": 0.0007884835940785706
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00018692921730689704,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 3.09967617795337e-05,
                    "y": 5.172461169422604e-05,
                    "z": -0.00017693586414679885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005190413212403655,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.9135288312099874e-05,
                    "y": -7.502112111978931e-06,
                    "z": 0.0005186342168599367
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006035759579390287,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.729178039677208e-06,
                    "y": 1.3673130752067664e-06,
                    "z": 0.0006035369005985558
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6306096315383911,
                "transform": {
                    "location": {
                        "x": -174.484375,
                        "y": 4327.2685546875,
                        "z": 373.1180419921875
                    },
                    "rotation": {
                        "roll": 2.6562447601463646e-05,
                        "pitch": -0.01159766037017107,
                        "yaw": -89.98833465576172
                    }
                },
                "velocity": {
                    "x": -0.0006466669728979468,
                    "y": -1.6306090354919434,
                    "z": -0.0011768436525017023
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029603004455566,
                "transform": {
                    "location": {
                        "x": -174.49717712402344,
                        "y": 4252.8974609375,
                        "z": 372.9989318847656
                    },
                    "rotation": {
                        "roll": -0.0037231382448226213,
                        "pitch": -0.2094135880470276,
                        "yaw": -89.78585815429688
                    }
                },
                "velocity": {
                    "x": 0.03368189558386803,
                    "y": -8.029479026794434,
                    "z": -0.029152516275644302
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023346474335994571,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.0936073522316292e-05,
                    "y": -1.2545746358227916e-05,
                    "z": 0.00023287076328415424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00037702254485338926,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.0915249731624499e-05,
                    "y": -1.805124520615209e-05,
                    "z": 0.0003764319699257612
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000984933110885322,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 1.4342888789542485e-05,
                    "y": -5.90719946558238e-06,
                    "z": 0.0009848109912127256
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00088705332018435,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.0631121767801233e-05,
                    "y": -1.6314499589498155e-05,
                    "z": 0.0008868395234458148
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3986741602420807,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "845": {
        "acceleration": [
            5.4555384849663824e-05,
            4.574390914058313e-05,
            -0.0002250709803774953
        ],
        "angular_velocity": [
            0.008561453782022,
            0.0004837250744458288,
            1.8072443708661012e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            9.128600140684284e-06,
            -2.2360607545124367e-05,
            0.00021197774913161993
        ],
        "speed": 2.4152186450000213e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.6268118997686543e-05,
                -1.1186608389834873e-05,
                0.0018723177490755916
            ],
            "speed_kmh": 0.006740718622555609,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.311821937561035,
                "transform": {
                    "location": {
                        "x": -174.53350830078125,
                        "y": 4345.5791015625,
                        "z": 373.1293029785156
                    },
                    "rotation": {
                        "roll": 0.00038838369073346257,
                        "pitch": -0.03430120646953583,
                        "yaw": -89.52885437011719
                    }
                },
                "velocity": {
                    "x": 0.047789253294467926,
                    "y": -5.3116068840026855,
                    "z": 0.0016031836858019233
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001636381639400497,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -7.798775186529383e-06,
                    "y": -3.0522141969413497e-06,
                    "z": -0.00016342371236532927
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.035025868797675e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 6.862580448796507e-06,
                    "y": -6.702991868223762e-07,
                    "z": -9.008676715893671e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010016984742833301,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.968536525964737e-05,
                    "y": 8.782063378021121e-05,
                    "z": 4.397749944473617e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.477849960327148,
                "transform": {
                    "location": {
                        "x": -142.14242553710938,
                        "y": 4301.806640625,
                        "z": 372.97210693359375
                    },
                    "rotation": {
                        "roll": 0.003094460815191269,
                        "pitch": -0.18356814980506897,
                        "yaw": -0.3120727241039276
                    }
                },
                "velocity": {
                    "x": 13.477564811706543,
                    "y": -0.07248981297016144,
                    "z": -0.04947130009531975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00048561522271484137,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 1.6584247077844338e-06,
                    "y": 1.940468791872263e-05,
                    "z": -0.00048522456199862063
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.176855847821571e-05,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361877441406
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.22630465030670166,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 1.0622217814670876e-05,
                    "y": 3.1173042316368083e-06,
                    "z": -5.057108501205221e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0017370327841490507,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 1.4148205082165077e-05,
                    "y": -7.178487521741772e-06,
                    "z": 0.0017369603738188744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003389106714166701,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 5.5876371334306896e-06,
                    "y": 4.019381958642043e-05,
                    "z": 0.0003364723816048354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00022252724738791585,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": -8.057057812038693e-07,
                    "y": -2.2825473934062757e-05,
                    "z": -0.00022135203471407294
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0018724218243733048,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.6268118997686543e-05,
                    "y": -1.1186608389834873e-05,
                    "z": 0.0018723177490755916
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.253772497177124,
                "transform": {
                    "location": {
                        "x": -174.4842987060547,
                        "y": 4326.75732421875,
                        "z": 373.11773681640625
                    },
                    "rotation": {
                        "roll": 3.111271507805213e-05,
                        "pitch": -0.015074227005243301,
                        "yaw": -90.00215911865234
                    }
                },
                "velocity": {
                    "x": -0.001916861510835588,
                    "y": -2.253770589828491,
                    "z": -0.0020675468258559704
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031224250793457,
                "transform": {
                    "location": {
                        "x": -174.4894561767578,
                        "y": 4250.8896484375,
                        "z": 372.9916076660156
                    },
                    "rotation": {
                        "roll": -0.001403813250362873,
                        "pitch": -0.20888766646385193,
                        "yaw": -89.77580261230469
                    }
                },
                "velocity": {
                    "x": 0.034642454236745834,
                    "y": -8.03109359741211,
                    "z": -0.02998010627925396
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011545742745511234,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.548498767078854e-05,
                    "y": -1.8677523257792927e-05,
                    "z": -0.00011287950474070385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00013799250882584602,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 6.63988294036244e-06,
                    "y": -3.6772701150766807e-06,
                    "z": 0.00013778360153082758
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00036762235686182976,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 6.831139216956217e-06,
                    "y": 2.839636908902321e-05,
                    "z": 0.00036646032822318375
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00013443068019114435,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 4.962161256116815e-06,
                    "y": 1.575400347064715e-05,
                    "z": 0.00013341213343665004
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39779984951019287,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "850": {
        "acceleration": [
            0.0004627406597137451,
            -0.0013882748316973448,
            -0.008708884939551353
        ],
        "angular_velocity": [
            0.015787998214364052,
            0.0034105866216123104,
            -6.403321549441898e-06
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            1.7226115232915618e-05,
            -4.6582528739236295e-05,
            -0.000203357805730775
        ],
        "speed": 4.966559201056062e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.285509804612957e-06,
                -5.461939167616947e-07,
                0.0004979567602276802
            ],
            "speed_kmh": 0.0017929570560480234,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.896306991577148,
                "transform": {
                    "location": {
                        "x": -174.5203094482422,
                        "y": 4344.14501953125,
                        "z": 373.129638671875
                    },
                    "rotation": {
                        "roll": -9.155389852821827e-05,
                        "pitch": -0.03173988685011864,
                        "yaw": -89.54643249511719
                    }
                },
                "velocity": {
                    "x": 0.054182861000299454,
                    "y": -5.89605712890625,
                    "z": 0.0025213526096194983
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1339119484764524e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -4.204139258945361e-09,
                    "y": -2.34436242863012e-06,
                    "z": 2.1209949409239925e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.068180224858224e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 1.0072029908769764e-05,
                    "y": -4.8591182348900475e-06,
                    "z": 8.998962584882975e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00021924659085925668,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.2558512025862001e-05,
                    "y": -4.384132626000792e-05,
                    "z": 0.00021445113816298544
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.374654769897461,
                "transform": {
                    "location": {
                        "x": -138.79046630859375,
                        "y": 4301.787109375,
                        "z": 372.9593811035156
                    },
                    "rotation": {
                        "roll": 0.0011559576960280538,
                        "pitch": -0.2268373966217041,
                        "yaw": -0.3262328803539276
                    }
                },
                "velocity": {
                    "x": 13.374334335327148,
                    "y": -0.07664111256599426,
                    "z": -0.05184514448046684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007455741870217025,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 7.012858986854553e-06,
                    "y": 6.444055543397553e-06,
                    "z": 0.000745513301808387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005132736405357718,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": -3.375485562173708e-07,
                    "y": 3.953331906814128e-05,
                    "z": -0.0005117487744428217
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008184817270375788,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 1.1308751709293574e-05,
                    "y": -5.085767497803317e-06,
                    "z": 0.0008183877798728645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001618795213289559,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 2.52586596616311e-05,
                    "y": -4.2648207454476506e-05,
                    "z": -0.00015410421474371105
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003182974469382316,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.4262757758842781e-05,
                    "y": 2.3040927771944553e-05,
                    "z": 0.0003171418502461165
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004980436060577631,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.285509804612957e-06,
                    "y": -5.461939167616947e-07,
                    "z": 0.0004979567602276802
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2157866358757019,
                "transform": {
                    "location": {
                        "x": -174.48422241210938,
                        "y": 4326.49072265625,
                        "z": 373.11810302734375
                    },
                    "rotation": {
                        "roll": -0.0009460420114919543,
                        "pitch": -0.07546675950288773,
                        "yaw": -90.01171112060547
                    }
                },
                "velocity": {
                    "x": 0.0006137919262982905,
                    "y": -0.2157827913761139,
                    "z": -0.001131296157836914
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030466079711914,
                "transform": {
                    "location": {
                        "x": -174.47914123535156,
                        "y": 4248.8818359375,
                        "z": 372.9840393066406
                    },
                    "rotation": {
                        "roll": -0.009063714183866978,
                        "pitch": -0.21883924305438995,
                        "yaw": -89.66930389404297
                    }
                },
                "velocity": {
                    "x": 0.06614252179861069,
                    "y": -8.03014087677002,
                    "z": -0.02928183041512966
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020063215924892575,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": -5.51041193830315e-06,
                    "y": 4.709656786872074e-05,
                    "z": 0.00019494822481647134
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004569862794596702,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 6.29112128081033e-06,
                    "y": -2.3159076590673067e-05,
                    "z": 0.0004563557158689946
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012787239393219352,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 1.5956797142280266e-05,
                    "y": 4.583026566251647e-06,
                    "z": 0.0012786161387339234
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001416190410964191,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.3251378732093144e-05,
                    "y": 1.1567888122954173e-06,
                    "z": 0.00141612789593637
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3961387872695923,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "855": {
        "acceleration": [
            0.0004191264451947063,
            0.0011054363567382097,
            -0.0026848597917705774
        ],
        "angular_velocity": [
            -0.019407812505960464,
            0.0056509580463171005,
            0.00011260242899879813
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            2.449888597766403e-05,
            6.201708310982212e-05,
            -0.00020549248438328505
        ],
        "speed": 6.668068694605034e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.226409590861294e-06,
                -6.248367753869388e-06,
                0.00021690943685825914
            ],
            "speed_kmh": 0.0007817590418243633,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.759746551513672,
                "transform": {
                    "location": {
                        "x": -174.51007080078125,
                        "y": 4342.3994140625,
                        "z": 373.13092041015625
                    },
                    "rotation": {
                        "roll": -0.005554186180233955,
                        "pitch": -0.1343429833650589,
                        "yaw": -89.65814971923828
                    }
                },
                "velocity": {
                    "x": 0.03076421655714512,
                    "y": -7.759685516357422,
                    "z": 0.001504869433119893
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.85397384990938e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 9.169507393380627e-07,
                    "y": -2.4468358787999023e-06,
                    "z": 8.850117592373863e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000150562496855855,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 1.008320577966515e-05,
                    "y": -9.566551852913108e-06,
                    "z": 0.00014991956413723528
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.48636565124616e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 7.868334250815678e-06,
                    "y": 3.106245640083216e-05,
                    "z": -3.140001354040578e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.392194747924805,
                "transform": {
                    "location": {
                        "x": -135.4453125,
                        "y": 4301.767578125,
                        "z": 372.9464416503906
                    },
                    "rotation": {
                        "roll": 0.0012612855061888695,
                        "pitch": -0.2204921543598175,
                        "yaw": -0.3317565619945526
                    }
                },
                "velocity": {
                    "x": 13.391867637634277,
                    "y": -0.07801584154367447,
                    "z": -0.05172458663582802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00026572076603770256,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -3.99321288568899e-06,
                    "y": -1.0158340046473313e-05,
                    "z": 0.00026549649192020297
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.466074698138982e-05,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 4.8709657676226925e-06,
                    "y": -4.3893505790038034e-05,
                    "z": 8.37274783407338e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003505351487547159,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 5.026832241128432e-06,
                    "y": 2.5909970645443536e-05,
                    "z": 0.00034954011789523065
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00025862077018246055,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 6.229724385775626e-05,
                    "y": -5.409728328231722e-05,
                    "z": 0.00024510661023668945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.3860446466133e-05,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 3.0946357583161443e-06,
                    "y": -9.09850587049732e-06,
                    "z": 8.33079539006576e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002171552914660424,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.226409590861294e-06,
                    "y": -6.248367753869388e-06,
                    "z": 0.00021690943685825914
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9841310977935791,
                "transform": {
                    "location": {
                        "x": -174.48382568359375,
                        "y": 4326.3447265625,
                        "z": 373.1175842285156
                    },
                    "rotation": {
                        "roll": 0.00030307547422125936,
                        "pitch": -0.026794830337166786,
                        "yaw": -90.05413818359375
                    }
                },
                "velocity": {
                    "x": 0.0001438174513168633,
                    "y": -0.9841295480728149,
                    "z": -0.001726455637253821
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029367446899414,
                "transform": {
                    "location": {
                        "x": -174.46226501464844,
                        "y": 4246.87451171875,
                        "z": 372.9763488769531
                    },
                    "rotation": {
                        "roll": -0.006347655318677425,
                        "pitch": -0.22484982013702393,
                        "yaw": -89.52657318115234
                    }
                },
                "velocity": {
                    "x": 0.07488733530044556,
                    "y": -8.028959274291992,
                    "z": -0.03077217936515808
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011046815197914839,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 7.833949894120451e-06,
                    "y": 1.1927751984330826e-05,
                    "z": 0.001104589318856597
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006347585003823042,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": -3.527849798956595e-07,
                    "y": -3.629140564953559e-06,
                    "z": 0.0006347480230033398
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010181365069001913,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 1.1776945939345751e-05,
                    "y": 2.7902193323825486e-05,
                    "z": 0.001017685979604721
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005586406332440674,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 9.616165698389523e-06,
                    "y": 1.3328308341442607e-06,
                    "z": 0.0005585562903434038
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39839911460876465,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "860": {
        "acceleration": [
            -0.00029783506761305034,
            -0.0012659268686547875,
            0.001476131728850305
        ],
        "angular_velocity": [
            0.004154931753873825,
            8.529543993063271e-05,
            3.382388240424916e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            6.017647592670983e-06,
            -1.048535432346398e-05,
            -0.00031274251523427665
        ],
        "speed": 1.2089447375217928e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2855603927164339e-05,
                1.374384737573564e-06,
                0.0010303659364581108
            ],
            "speed_kmh": 0.003709609372393035,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.459476947784424,
                "transform": {
                    "location": {
                        "x": -174.50155639648438,
                        "y": 4340.44970703125,
                        "z": 373.1300354003906
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.0034833962563425303,
                        "yaw": -89.74200439453125
                    }
                },
                "velocity": {
                    "x": 0.02826409600675106,
                    "y": -7.459423065185547,
                    "z": 0.0016444205539301038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002262821508338675,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 1.2100672392989509e-05,
                    "y": -2.262461975988117e-06,
                    "z": -0.00022594704932998866
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00029576782253570855,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 8.443779734079726e-06,
                    "y": 1.0466675348652643e-06,
                    "z": 0.0002956454118248075
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00037877855356782675,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.297950711887097e-05,
                    "y": 8.091569907264784e-05,
                    "z": -0.0003698072105180472
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.403467178344727,
                "transform": {
                    "location": {
                        "x": -132.0953826904297,
                        "y": 4301.748046875,
                        "z": 372.9334411621094
                    },
                    "rotation": {
                        "roll": 0.0010008992394432425,
                        "pitch": -0.22088830173015594,
                        "yaw": -0.344146728515625
                    }
                },
                "velocity": {
                    "x": 13.403130531311035,
                    "y": -0.07941579818725586,
                    "z": -0.05225786194205284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.1291958041256294e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 4.2813271647901274e-06,
                    "y": -3.682395981741138e-05,
                    "z": 1.8184942746302113e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.8647881814977154e-05,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 6.049499006621772e-06,
                    "y": 1.2405513416524627e-06,
                    "z": -5.832185343024321e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012564337812364101,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 9.0293960965937e-06,
                    "y": 1.3942550140200183e-05,
                    "z": 0.0012563240015879273
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00010182256664847955,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -1.1659823030640837e-05,
                    "y": -3.141875276924111e-05,
                    "z": 9.614960436010733e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001142139662988484,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.3864375432603993e-05,
                    "y": -1.4186081898515113e-05,
                    "z": 0.00114196736831218
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010304470779374242,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2855603927164339e-05,
                    "y": 1.374384737573564e-06,
                    "z": 0.0010303659364581108
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.711510419845581,
                "transform": {
                    "location": {
                        "x": -174.48350524902344,
                        "y": 4326.00537109375,
                        "z": 373.11724853515625
                    },
                    "rotation": {
                        "roll": -0.00030517656705342233,
                        "pitch": -0.01770384982228279,
                        "yaw": -90.0903549194336
                    }
                },
                "velocity": {
                    "x": -0.0027872631326317787,
                    "y": -1.7115070819854736,
                    "z": -0.001909017562866211
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030132293701172,
                "transform": {
                    "location": {
                        "x": -174.44351196289062,
                        "y": 4244.86669921875,
                        "z": 372.9684143066406
                    },
                    "rotation": {
                        "roll": -0.001464860630221665,
                        "pitch": -0.23053252696990967,
                        "yaw": -89.441162109375
                    }
                },
                "velocity": {
                    "x": 0.07955390959978104,
                    "y": -8.029671669006348,
                    "z": -0.03284241259098053
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013501605717465281,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 6.114728421380278e-06,
                    "y": -1.2547243386507034e-05,
                    "z": 0.0013500883942469954
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002089792105834931,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 2.0695179046015255e-05,
                    "y": -3.4849865187425166e-05,
                    "z": 0.00020501099061220884
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014039836823940277,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.21267841756343842,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": 1.30658590933308e-05,
                    "y": -7.902467586973216e-06,
                    "z": 0.001403900678269565
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39720258116722107,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "865": {
        "acceleration": [
            -0.00047486647963523865,
            0.0008851017337292433,
            -0.0042914883233606815
        ],
        "angular_velocity": [
            -0.010971135459840298,
            -0.00932144932448864,
            8.924400754040107e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            -2.4937688067439012e-05,
            3.871443186653778e-05,
            -0.0004096495977137238
        ],
        "speed": 4.605100998781336e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1900886420335155e-05,
                -1.0000812835642137e-05,
                0.0006164254737086594
            ],
            "speed_kmh": 0.0022198372182246004,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.998358726501465,
                "transform": {
                    "location": {
                        "x": -174.49546813964844,
                        "y": 4338.74267578125,
                        "z": 373.1292419433594
                    },
                    "rotation": {
                        "roll": -0.002136235823854804,
                        "pitch": 0.11212437599897385,
                        "yaw": -89.77713012695312
                    }
                },
                "velocity": {
                    "x": 0.014124623499810696,
                    "y": -5.998342037200928,
                    "z": 0.0014308165991678834
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00012836458336096257,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 4.954292762704426e-07,
                    "y": -2.1795649445266463e-06,
                    "z": -0.00012834512745030224
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00019171751046087593,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 6.548724741151091e-06,
                    "y": -1.451531716156751e-06,
                    "z": 0.00019160013471264392
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.670142152463086e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -1.4246589671529364e-05,
                    "y": 4.3370029743527994e-05,
                    "z": 9.853843948803842e-06
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400681495666504,
                "transform": {
                    "location": {
                        "x": -128.7449951171875,
                        "y": 4301.728515625,
                        "z": 372.9202575683594
                    },
                    "rotation": {
                        "roll": 0.0007271181675605476,
                        "pitch": -0.22531427443027496,
                        "yaw": -0.3427428901195526
                    }
                },
                "velocity": {
                    "x": 13.400333404541016,
                    "y": -0.08081766963005066,
                    "z": -0.0528101772069931
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000205589720280841,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 1.609444552741479e-05,
                    "y": -7.642315722478088e-07,
                    "z": -0.0002049573668045923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00036153706605546176,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 2.172514768972178e-06,
                    "y": 3.571148045011796e-05,
                    "z": -0.0003597624599933624
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00042232475243508816,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 8.658244951220695e-06,
                    "y": -2.027119080594275e-06,
                    "z": 0.00042223112541250885
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00017082721751648933,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -1.7986334569286555e-05,
                    "y": -5.0931961595779285e-05,
                    "z": 0.00016206284635700285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006040480802766979,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.112025165639352e-05,
                    "y": 8.899467502487823e-06,
                    "z": 0.0006038801511749625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006166214589029551,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1900886420335155e-05,
                    "y": -1.0000812835642137e-05,
                    "z": 0.0006164254737086594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0258474349975586,
                "transform": {
                    "location": {
                        "x": -174.48350524902344,
                        "y": 4325.4951171875,
                        "z": 373.1170349121094
                    },
                    "rotation": {
                        "roll": -6.103648047428578e-05,
                        "pitch": -0.027559811249375343,
                        "yaw": -90.08898162841797
                    }
                },
                "velocity": {
                    "x": -0.003181752748787403,
                    "y": -2.025844097137451,
                    "z": -0.001909990212880075
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031352996826172,
                "transform": {
                    "location": {
                        "x": -174.41656494140625,
                        "y": 4242.85888671875,
                        "z": 372.9603576660156
                    },
                    "rotation": {
                        "roll": -0.009765642695128918,
                        "pitch": -0.23141363263130188,
                        "yaw": -89.22852325439453
                    }
                },
                "velocity": {
                    "x": 0.1252840757369995,
                    "y": -8.030305862426758,
                    "z": -0.03349675238132477
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006167148821987212,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 5.819648322358262e-06,
                    "y": 6.29253190709278e-06,
                    "z": 0.0006166552775539458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00023488809529226273,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.4122426364338025e-05,
                    "y": -3.7647898807335878e-06,
                    "z": 0.00023443292593583465
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008897818624973297,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 2.7751921152230352e-06,
                    "y": 2.7954811798736046e-07,
                    "z": 0.0008897774969227612
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000866651360411197,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": 0.001118911779485643,
                        "pitch": 0.21492555737495422,
                        "yaw": 179.6948699951172
                    }
                },
                "velocity": {
                    "x": 1.0403841770312283e-05,
                    "y": 6.9103898567846045e-06,
                    "z": 0.0008665613713674247
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39723846316337585,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "870": {
        "acceleration": [
            0.0004923783126287162,
            0.000790895486716181,
            0.002537292428314686
        ],
        "angular_velocity": [
            -0.00014590416685678065,
            0.0006325421272777021,
            4.936393816024065e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            9.55596533458447e-06,
            -1.820831016630109e-06,
            0.0001973962498595938
        ],
        "speed": 9.72789283796354e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.5141405128815677e-05,
                -8.34759066492552e-06,
                0.001362056122161448
            ],
            "speed_kmh": 0.004903797088318723,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.494307041168213,
                "transform": {
                    "location": {
                        "x": -174.48976135253906,
                        "y": 4337.69921875,
                        "z": 373.12750244140625
                    },
                    "rotation": {
                        "roll": 0.0029681604355573654,
                        "pitch": 0.3090387284755707,
                        "yaw": -90.76934814453125
                    }
                },
                "velocity": {
                    "x": -0.033974360674619675,
                    "y": -2.494075298309326,
                    "z": -0.0012561321491375566
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003623752563726157,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 1.7287380615016446e-05,
                    "y": -2.0190700524835847e-06,
                    "z": 0.00036195703432895243
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.973160791152623e-06,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 3.5488233152136672e-06,
                    "y": -6.407262844732031e-06,
                    "z": -3.1502568162977695e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004026070237159729,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 2.502392999303993e-05,
                    "y": 9.506586502538994e-05,
                    "z": -0.0003904211916960776
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.399579048156738,
                "transform": {
                    "location": {
                        "x": -125.3953857421875,
                        "y": 4301.708984375,
                        "z": 372.9071350097656
                    },
                    "rotation": {
                        "roll": 0.00019308459013700485,
                        "pitch": -0.2245219647884369,
                        "yaw": -0.35028076171875
                    }
                },
                "velocity": {
                    "x": 13.399232864379883,
                    "y": -0.08101174235343933,
                    "z": -0.0521397739648819
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.643387314397842e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 2.349764145037625e-06,
                    "y": -4.307509880163707e-05,
                    "z": 5.052201231592335e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001550747110741213,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 6.491578915301943e-06,
                    "y": 8.443967089988291e-06,
                    "z": -0.00015470851212739944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012630682904273272,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 9.577124728821218e-06,
                    "y": -5.920395778957754e-06,
                    "z": 0.0012630181154236197
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00023962932755239308,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 2.371456503169611e-05,
                    "y": 5.608840729109943e-05,
                    "z": -0.00023176264949142933
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013621659018099308,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.5141405128815677e-05,
                    "y": -8.34759066492552e-06,
                    "z": 0.001362056122161448
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.31288403272628784,
                "transform": {
                    "location": {
                        "x": -174.48350524902344,
                        "y": 4325.3466796875,
                        "z": 373.1173095703125
                    },
                    "rotation": {
                        "roll": -0.0008544945740140975,
                        "pitch": -0.06912150979042053,
                        "yaw": -90.0950927734375
                    }
                },
                "velocity": {
                    "x": -0.0004332941025495529,
                    "y": -0.312879741191864,
                    "z": -0.0015790367033332586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029470443725586,
                "transform": {
                    "location": {
                        "x": -174.38546752929688,
                        "y": 4240.8505859375,
                        "z": 372.9522705078125
                    },
                    "rotation": {
                        "roll": -0.004241941962391138,
                        "pitch": -0.2317141592502594,
                        "yaw": -89.07733154296875
                    }
                },
                "velocity": {
                    "x": 0.1324547529220581,
                    "y": -8.028312683105469,
                    "z": -0.03234633430838585
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.675682718399912e-05,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.7863734683487564e-05,
                    "y": 1.0173781447520014e-05,
                    "z": -7.395262946374714e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00014596407709177583,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.744692084088456e-06,
                    "y": -1.1367764045644435e-06,
                    "z": 0.0001457540347473696
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015179846668615937,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 1.1318027645756956e-05,
                    "y": -2.0045334167662077e-05,
                    "z": 0.0015178100438788533
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002536634565331042,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": 0.001118911779485643,
                        "pitch": 0.21492555737495422,
                        "yaw": 179.6948699951172
                    }
                },
                "velocity": {
                    "x": 8.722394341020845e-06,
                    "y": 9.549395144858863e-06,
                    "z": 0.00025333353551104665
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3967958688735962,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "875": {
        "acceleration": [
            -0.00037945431540720165,
            -0.0010792198590934277,
            0.0015861202264204621
        ],
        "angular_velocity": [
            0.00405783299356699,
            -0.0032353801652789116,
            3.7790447095176205e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            -4.103630544705084e-06,
            -1.7507351003587246e-05,
            -0.00011369230196578428
        ],
        "speed": 1.7981855377303086e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.272081686300226e-06,
                1.5638252079952508e-06,
                0.0007731980876997113
            ],
            "speed_kmh": 0.0027836781024330503,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1254210472106934,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4337.3759765625,
                        "z": 373.1283874511719
                    },
                    "rotation": {
                        "roll": 0.01685182936489582,
                        "pitch": 0.1962449848651886,
                        "yaw": -91.62810516357422
                    }
                },
                "velocity": {
                    "x": -0.0012615594314411283,
                    "y": -1.1254198551177979,
                    "z": -0.0010575770866125822
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.792156571260421e-06,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -1.9149418051256362e-07,
                    "y": -2.2392532628146e-06,
                    "z": 5.3383664635475725e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001784918422345072,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 9.321794095740188e-06,
                    "y": -6.410683113244886e-07,
                    "z": 0.00017824710812419653
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00013966082769911736,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 8.970759154180996e-06,
                    "y": -2.5927422029781155e-05,
                    "z": 0.00013693954679183662
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400118827819824,
                "transform": {
                    "location": {
                        "x": -122.0457763671875,
                        "y": 4301.689453125,
                        "z": 372.8940124511719
                    },
                    "rotation": {
                        "roll": -0.0007934570894576609,
                        "pitch": -0.2242146134376526,
                        "yaw": -0.3427123725414276
                    }
                },
                "velocity": {
                    "x": 13.399771690368652,
                    "y": -0.08109162747859955,
                    "z": -0.052277062088251114
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.44434873922728e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 4.710331268142909e-06,
                    "y": -1.339859954896383e-05,
                    "z": -7.307614578166977e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002159580180887133,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 1.531310408608988e-05,
                    "y": -5.007917025068309e-06,
                    "z": -0.00021535620908252895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00021635294251609594,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 1.0537132766330615e-05,
                    "y": -1.2003300980722997e-05,
                    "z": 0.0002157625713152811
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005374709726311266,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 3.6179535527480766e-05,
                    "y": -4.159372838330455e-05,
                    "z": -0.0005346363759599626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000766149431001395,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.5265159163391218e-05,
                    "y": 2.841053719748743e-05,
                    "z": 0.0007654703222215176
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007732439553365111,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.272081686300226e-06,
                    "y": 1.5638252079952508e-06,
                    "z": 0.0007731980876997113
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0995692014694214,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4325.16748046875,
                        "z": 373.1167907714844
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": -0.02871411293745041,
                        "yaw": -90.11555480957031
                    }
                },
                "velocity": {
                    "x": -0.00275799841620028,
                    "y": -1.0995638370513916,
                    "z": -0.002040023682639003
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029743194580078,
                "transform": {
                    "location": {
                        "x": -174.35015869140625,
                        "y": 4238.84326171875,
                        "z": 372.9441833496094
                    },
                    "rotation": {
                        "roll": -0.011932372115552425,
                        "pitch": -0.2332441210746765,
                        "yaw": -88.97698211669922
                    }
                },
                "velocity": {
                    "x": 0.17372146248817444,
                    "y": -8.027795791625977,
                    "z": -0.032897625118494034
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003373328654561192,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 4.532337243290385e-06,
                    "y": 4.96292304887902e-05,
                    "z": 0.00033363132388330996
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005141470464877784,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.0684691005735658e-05,
                    "y": 7.048677161947126e-07,
                    "z": 0.0005140355206094682
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001478758524172008,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 1.0170042514801025e-06,
                    "y": 1.740156449159258e-06,
                    "z": 0.0014787571271881461
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011174777755513787,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": 0.0010475862072780728,
                        "pitch": 0.21467965841293335,
                        "yaw": 179.6948699951172
                    }
                },
                "velocity": {
                    "x": 1.3726688848691992e-05,
                    "y": -2.800500851662946e-06,
                    "z": 0.0011173899983987212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3960079252719879,
        "expert_target_speed": 0.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "880": {
        "acceleration": [
            -2.620363375172019e-06,
            4.423205609782599e-05,
            -0.0005523673025891185
        ],
        "angular_velocity": [
            -0.0037996340543031693,
            -0.000653141993097961,
            6.219534407136962e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            4.374943728180369e-06,
            1.1484156857477501e-05,
            -9.101138130063191e-05
        ],
        "speed": 1.2289263255048784e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                6.013288839312736e-06,
                -1.6419959138147533e-05,
                2.3408967535942793e-05
            ],
            "speed_kmh": 0.00010518867726963253,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.076345682144165,
                "transform": {
                    "location": {
                        "x": -174.48928833007812,
                        "y": 4336.966796875,
                        "z": 373.13037109375
                    },
                    "rotation": {
                        "roll": 0.008131842128932476,
                        "pitch": -0.05407460406422615,
                        "yaw": -91.3214111328125
                    }
                },
                "velocity": {
                    "x": 0.0032090963795781136,
                    "y": -2.0763418674468994,
                    "z": -0.0023048401344567537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004152331384830177,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 6.594311344088055e-06,
                    "y": -2.2867507141199894e-06,
                    "z": 0.0004151744651608169
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.319834548979998e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 4.51974574389169e-06,
                    "y": -5.977649379929062e-06,
                    "z": 7.28137165424414e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.75789124215953e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 7.443539743690053e-06,
                    "y": -2.412526373518631e-05,
                    "z": 6.268552533583716e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.355201721191406,
                "transform": {
                    "location": {
                        "x": -118.69710540771484,
                        "y": 4301.669921875,
                        "z": 372.8807373046875
                    },
                    "rotation": {
                        "roll": 1.7667429347056895e-05,
                        "pitch": -0.23017053306102753,
                        "yaw": -0.3507080078125
                    }
                },
                "velocity": {
                    "x": 13.354849815368652,
                    "y": -0.08066818118095398,
                    "z": -0.05367322266101837
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6212786653777584e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 8.112043360597454e-06,
                    "y": -2.9495944886548386e-07,
                    "z": -3.529126843204722e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002492002386134118,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 4.169344720139634e-06,
                    "y": 2.437767034280114e-05,
                    "z": -0.00024796996149234474
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.759516377816908e-05,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 9.139514986600261e-06,
                    "y": -1.1170877769473009e-05,
                    "z": -4.5353943278314546e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.994797200197354e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 3.139667023788206e-05,
                    "y": -4.641807208827231e-06,
                    "z": 3.8568156014662236e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005774048040620983,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 8.696951226738747e-06,
                    "y": -3.804231164394878e-05,
                    "z": 0.0005760845961049199
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.921907616837416e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.013288839312736e-06,
                    "y": -1.6419959138147533e-05,
                    "z": 2.3408967535942793e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5969938039779663,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4324.8046875,
                        "z": 373.1165466308594
                    },
                    "rotation": {
                        "roll": 1.9307457478134893e-05,
                        "pitch": -0.02609132044017315,
                        "yaw": -90.11029052734375
                    }
                },
                "velocity": {
                    "x": -0.002396503696218133,
                    "y": -1.5969910621643066,
                    "z": -0.0017083740094676614
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.154931545257568,
                "transform": {
                    "location": {
                        "x": -174.30819702148438,
                        "y": 4236.91552734375,
                        "z": 372.9369812011719
                    },
                    "rotation": {
                        "roll": -0.005676259286701679,
                        "pitch": -0.30188068747520447,
                        "yaw": -88.71741485595703
                    }
                },
                "velocity": {
                    "x": 0.16914786398410797,
                    "y": -7.152872562408447,
                    "z": -0.029182376340031624
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016288828919641674,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 2.2538937628269196e-05,
                    "y": 2.960330130008515e-05,
                    "z": 0.00015858195547480136
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00047359318705275655,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 3.0198320928320754e-06,
                    "y": -2.238651541119907e-05,
                    "z": 0.0004730541550088674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008788234554231167,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 7.834173629817087e-06,
                    "y": -4.236330255480425e-07,
                    "z": 0.0008787884144112468
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.90585327148438,
                        "y": 4295.2109375,
                        "z": 373.0328674316406
                    },
                    "rotation": {
                        "roll": 0.0005365654942579567,
                        "pitch": 0.18506395816802979,
                        "yaw": 179.64956665039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004840174224227667,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": 0.0010475862072780728,
                        "pitch": 0.21467965841293335,
                        "yaw": 179.6948699951172
                    }
                },
                "velocity": {
                    "x": 9.688325008028187e-06,
                    "y": -3.694703423207102e-07,
                    "z": 0.00048392030294053257
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3966752588748932,
        "expert_target_speed": 10.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "885": {
        "acceleration": [
            9.132474951911718e-05,
            -0.0004018497420474887,
            0.0031509276013821363
        ],
        "angular_velocity": [
            -0.001721458276733756,
            -0.00024333673354703933,
            5.792637966806069e-05
        ],
        "forward_vector": [
            -0.9999937415122986,
            0.00030866271117702127,
            0.0035244151949882507
        ],
        "right_vector": [
            -0.00030871477792970836,
            -0.9999999403953552,
            -1.4230078704713378e-05
        ],
        "location": [
            -160.34616088867188,
            4292.48291015625,
            373.03436279296875
        ],
        "rotation": [
            0.0008153285016305745,
            0.20193453133106232,
            179.98231506347656
        ],
        "velocity": [
            5.971565769868903e-06,
            -3.7425895698106615e-06,
            -1.704435817373451e-05
        ],
        "speed": 7.047451626788618e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.17706298828125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0539404684095643e-05,
                -1.0595600542728789e-05,
                0.0010184639832004905
            ],
            "speed_kmh": 0.003666865052355514,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8252419233322144,
                "transform": {
                    "location": {
                        "x": -174.49124145507812,
                        "y": 4336.4462890625,
                        "z": 373.1298828125
                    },
                    "rotation": {
                        "roll": 0.0006715970230288804,
                        "pitch": -0.0018304905388504267,
                        "yaw": -91.00564575195312
                    }
                },
                "velocity": {
                    "x": 0.0029702347237616777,
                    "y": -1.8252389430999756,
                    "z": -0.0014223098987713456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001335837150691077,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 2.325689092685934e-05,
                    "y": -2.915300456152181e-06,
                    "z": -0.00013151131861377507
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00027941178996115923,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 1.2092068573110737e-05,
                    "y": 3.4393194709991803e-06,
                    "z": 0.00027912884252145886
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002477433008607477,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.5036277545732446e-05,
                    "y": -4.807976074516773e-05,
                    "z": 0.00024256750475615263
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.882823944091797,
                "transform": {
                    "location": {
                        "x": -115.52796936035156,
                        "y": 4301.65087890625,
                        "z": 372.8680114746094
                    },
                    "rotation": {
                        "roll": 0.0006368891918100417,
                        "pitch": -0.40472283959388733,
                        "yaw": -0.3535155951976776
                    }
                },
                "velocity": {
                    "x": 11.882505416870117,
                    "y": -0.07276009768247604,
                    "z": -0.047629084438085556
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00036146180354990065,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 1.428876021236647e-05,
                    "y": -2.5138053388218395e-05,
                    "z": 0.00036030341289006174
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013927812688052654,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 1.902598887681961e-05,
                    "y": 1.1099112271040212e-05,
                    "z": -0.00013752533413935453
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012075413251295686,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 8.906051334633958e-06,
                    "y": -1.4422852473217063e-05,
                    "z": 0.0012074223486706614
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011392389424145222,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 2.9789674954372458e-05,
                    "y": -9.171901183435693e-05,
                    "z": -0.001135149970650673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016045960364863276,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.910380888148211e-05,
                    "y": 4.179754796496127e-06,
                    "z": 0.0016044768271967769
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010185736464336514,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0539404684095643e-05,
                    "y": -1.0595600542728789e-05,
                    "z": 0.0010184639832004905
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013499492779374123,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4324.720703125,
                        "z": 373.1168518066406
                    },
                    "rotation": {
                        "roll": -0.0002441393880872056,
                        "pitch": -0.06664898246526718,
                        "yaw": -90.10870361328125
                    }
                },
                "velocity": {
                    "x": 4.9762318667490035e-05,
                    "y": 2.5561479560565203e-05,
                    "z": -0.0013487895485013723
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.2301437854766846,
                "transform": {
                    "location": {
                        "x": -174.27296447753906,
                        "y": 4235.4755859375,
                        "z": 372.93316650390625
                    },
                    "rotation": {
                        "roll": -0.0018615833250805736,
                        "pitch": -0.5632925033569336,
                        "yaw": -88.77981567382812
                    }
                },
                "velocity": {
                    "x": 0.08288415521383286,
                    "y": -3.2290468215942383,
                    "z": -0.014692935161292553
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005166855989955366,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.6416236121585825e-06,
                    "y": 2.639576450746972e-05,
                    "z": 0.0005160082946531475
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000598088197875768,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.1960602932958864e-05,
                    "y": 2.893354462685238e-07,
                    "z": 0.0005979685229249299
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.3261036403710023e-05,
                "transform": {
                    "location": {
                        "x": -150.99539184570312,
                        "y": 4295.15771484375,
                        "z": 372.9945983886719
                    },
                    "rotation": {
                        "roll": 0.00031959087937138975,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.32958984375
                    }
                },
                "velocity": {
                    "x": 7.020272278168704e-06,
                    "y": -9.225099262266667e-08,
                    "z": 2.2176182028488256e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.04279739037156105,
                "transform": {
                    "location": {
                        "x": -159.91273498535156,
                        "y": 4295.2109375,
                        "z": 373.0325622558594
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.2087578922510147,
                        "yaw": 179.6411590576172
                    }
                },
                "velocity": {
                    "x": -0.042769044637680054,
                    "y": 0.00047371763503178954,
                    "z": 0.0014835834736004472
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001321274321526289,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": 0.0010475862072780728,
                        "pitch": 0.21467965841293335,
                        "yaw": 179.6948699951172
                    }
                },
                "velocity": {
                    "x": 1.2950598829775117e-05,
                    "y": 1.9458791484794347e-06,
                    "z": 0.0013212093617767096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.397815465927124,
        "expert_target_speed": 10.0,
        "target_point": [
            25.97882932213457,
            0.27315124505916494
        ],
        "target_point_next": [
            36.97863536081524,
            0.21111501359708648
        ]
    },
    "890": {
        "acceleration": [
            -0.33728447556495667,
            -0.00262048770673573,
            -0.00034179684007540345
        ],
        "angular_velocity": [
            0.033220332115888596,
            0.07368209213018417,
            -0.14016595482826233
        ],
        "forward_vector": [
            -0.9999932050704956,
            0.0001634666114114225,
            0.003685346571728587
        ],
        "right_vector": [
            -0.00016355032857973129,
            -1.0,
            -2.241708898509387e-05
        ],
        "location": [
            -160.35382080078125,
            4292.48291015625,
            373.0343322753906
        ],
        "rotation": [
            0.0012844133889302611,
            0.21115528047084808,
            179.99063110351562
        ],
        "velocity": [
            -0.047001469880342484,
            -8.011253521544859e-05,
            0.0002255725848954171
        ],
        "speed": 0.047001538154948085,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.169403076171875,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.328167612286052e-06,
                2.153663899662206e-06,
                0.0003122763882856816
            ],
            "speed_kmh": 0.0011245312283542292,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0920603275299072,
                "transform": {
                    "location": {
                        "x": -174.49281311035156,
                        "y": 4335.98388671875,
                        "z": 373.1299133300781
                    },
                    "rotation": {
                        "roll": 0.00020146222959738225,
                        "pitch": -0.016966188326478004,
                        "yaw": -90.78277587890625
                    }
                },
                "velocity": {
                    "x": 0.004450205713510513,
                    "y": -2.092054843902588,
                    "z": -0.001726932474412024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4333638066309504e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -1.251045631533998e-07,
                    "y": -2.5087781523325248e-06,
                    "z": -2.4203642169595696e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.642835018690675e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 4.830993475479772e-06,
                    "y": -3.957682110922178e-06,
                    "z": 8.620242442702875e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.655202792491764e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.3391338143264875e-05,
                    "y": 3.881954035023227e-05,
                    "z": 2.1927298803348094e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.584049224853516,
                "transform": {
                    "location": {
                        "x": -112.82366943359375,
                        "y": 4301.6337890625,
                        "z": 372.8570556640625
                    },
                    "rotation": {
                        "roll": 0.0005694400751963258,
                        "pitch": -0.5604920983314514,
                        "yaw": -0.3648986518383026
                    }
                },
                "velocity": {
                    "x": 9.583783149719238,
                    "y": -0.06046411767601967,
                    "z": -0.03804544359445572
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021874965750612319,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -5.501545729202917e-06,
                    "y": -2.1311316231731325e-05,
                    "z": 0.000217639550101012
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00045854144264012575,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 3.848001142614521e-06,
                    "y": 4.926877954858355e-05,
                    "z": -0.0004558706423267722
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004142708785366267,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 1.2913830687466543e-05,
                    "y": 8.953403494160739e-07,
                    "z": 0.00041406857781112194
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001032783547998406,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 5.756206519436091e-06,
                    "y": -2.75527509074891e-05,
                    "z": 9.93686553556472e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00031236978247761726,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.328167612286052e-06,
                    "y": 2.153663899662206e-06,
                    "z": 0.0003122763882856816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4324.720703125,
                        "z": 373.11669921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.050358980894088745,
                        "yaw": -90.10870361328125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.002917390549555421,
                "transform": {
                    "location": {
                        "x": -174.26780700683594,
                        "y": 4235.29052734375,
                        "z": 372.9327392578125
                    },
                    "rotation": {
                        "roll": 0.0039044683799147606,
                        "pitch": -0.60162353515625,
                        "yaw": -88.8076171875
                    }
                },
                "velocity": {
                    "x": -3.7567537219729275e-05,
                    "y": 0.0021727760322391987,
                    "z": 0.0019464840879663825
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017945817671716213,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 5.248933803159161e-07,
                    "y": -8.096219517028658e-07,
                    "z": 0.00017945558647625148
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.392321953782812e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 6.284192295424873e-07,
                    "y": 1.2277730093046557e-05,
                    "z": 9.311515896115452e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.14620348811149597,
                "transform": {
                    "location": {
                        "x": -151.00335693359375,
                        "y": 4295.15771484375,
                        "z": 372.99456787109375
                    },
                    "rotation": {
                        "roll": -0.0015869134804233909,
                        "pitch": 0.21242570877075195,
                        "yaw": 179.33448791503906
                    }
                },
                "velocity": {
                    "x": -0.14619217813014984,
                    "y": 0.0009682386880740523,
                    "z": 0.00153942103497684
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8383058309555054,
                "transform": {
                    "location": {
                        "x": -160.0124969482422,
                        "y": 4295.2119140625,
                        "z": 373.0325012207031
                    },
                    "rotation": {
                        "roll": 0.000741537834983319,
                        "pitch": 0.39854833483695984,
                        "yaw": 179.6472930908203
                    }
                },
                "velocity": {
                    "x": -0.8382886052131653,
                    "y": 0.004810426849871874,
                    "z": 0.0023873804602771997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008723666542209685,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": 0.0010475862072780728,
                        "pitch": 0.21467965841293335,
                        "yaw": 179.6948699951172
                    }
                },
                "velocity": {
                    "x": 9.592436072125565e-06,
                    "y": -3.901408490492031e-06,
                    "z": 0.0008723051869310439
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39857959747314453,
        "expert_target_speed": 10.0,
        "target_point": [
            25.97120873277506,
            0.26938413744699324
        ],
        "target_point_next": [
            36.97100566320768,
            0.20575339130159154
        ]
    },
    "895": {
        "acceleration": [
            -1.9879961013793945,
            -0.03156843036413193,
            -0.01448039710521698
        ],
        "angular_velocity": [
            -0.07567388564348221,
            0.4523867666721344,
            0.38665854930877686
        ],
        "forward_vector": [
            -0.9999805092811584,
            4.204029664833797e-06,
            0.006247122306376696
        ],
        "right_vector": [
            -4.2318611122027505e-06,
            -1.0,
            -4.441882538230857e-06
        ],
        "location": [
            -160.43109130859375,
            4292.48291015625,
            373.0340576171875
        ],
        "rotation": [
            0.00025450607063248754,
            0.3579360544681549,
            179.999755859375
        ],
        "velocity": [
            -0.6198515892028809,
            -0.000359808502253145,
            0.0018807697342708707
        ],
        "speed": 0.6198516936328361,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.092132568359375,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0972097697958816e-05,
                5.965501713944832e-06,
                0.0008883160189725459
            ],
            "speed_kmh": 0.003198253704004054,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8244962692260742,
                "transform": {
                    "location": {
                        "x": -174.49319458007812,
                        "y": 4335.46240234375,
                        "z": 373.1296691894531
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.004958717152476311,
                        "yaw": -90.58184051513672
                    }
                },
                "velocity": {
                    "x": 0.0036444596480578184,
                    "y": -1.8244918584823608,
                    "z": -0.0017253112746402621
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010979377111652866,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 2.251707655887003e-06,
                    "y": -2.6240479655825766e-06,
                    "z": 0.0001097393105737865
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4133736587828025e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.601715424243594e-06,
                    "y": -2.779831447696779e-06,
                    "z": 2.2735956008546054e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002704915823414922,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -1.4772675967833493e-05,
                    "y": -1.0964678949676454e-05,
                    "z": 0.0002698652388062328
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.633871555328369,
                "transform": {
                    "location": {
                        "x": -110.6953125,
                        "y": 4301.62060546875,
                        "z": 372.8486633300781
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.5500146150588989,
                        "yaw": -0.342437744140625
                    }
                },
                "velocity": {
                    "x": 7.633667945861816,
                    "y": -0.04585855081677437,
                    "z": -0.03165704756975174
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005579026765190065,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 2.6784500732901506e-05,
                    "y": -9.724830306367949e-06,
                    "z": -0.000557174498680979
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016489080735482275,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 5.356669134926051e-06,
                    "y": 5.447830062621506e-06,
                    "z": -0.00016471371054649353
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013218915555626154,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 8.84279597812565e-06,
                    "y": 9.98440918920096e-06,
                    "z": 0.0013218242675065994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00026788547984324396,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -2.610195406305138e-05,
                    "y": -5.3424821089720353e-05,
                    "z": -0.000261203182162717
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011844296241179109,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.5928670109133236e-05,
                    "y": -1.1171794540132396e-05,
                    "z": 0.0011842697858810425
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008884037961252034,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0972097697958816e-05,
                    "y": 5.965501713944832e-06,
                    "z": 0.0008883160189725459
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003995884908363223,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4324.720703125,
                        "z": 373.1166687011719
                    },
                    "rotation": {
                        "roll": 0.00043168940464966,
                        "pitch": -0.045168038457632065,
                        "yaw": -90.10870361328125
                    }
                },
                "velocity": {
                    "x": -3.8030033465474844e-05,
                    "y": -6.303051236500323e-07,
                    "z": -0.00039777415804564953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015934512484818697,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.28857421875,
                        "z": 372.9302978515625
                    },
                    "rotation": {
                        "roll": 0.000638832279946655,
                        "pitch": -0.313628613948822,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": -0.0001478390913689509,
                    "y": 0.0006981369224376976,
                    "z": 0.0014247229555621743
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003800755657721311,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": -5.919933300901903e-06,
                    "y": -4.31777116318699e-05,
                    "z": 0.00037756862002424896
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00021226922399364412,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 4.6588479563069995e-06,
                    "y": 2.9229522624518722e-05,
                    "z": -0.00021019551786594093
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9785904288291931,
                "transform": {
                    "location": {
                        "x": -151.1503143310547,
                        "y": 4295.1591796875,
                        "z": 372.9949645996094
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": 0.25444501638412476,
                        "yaw": 179.3230438232422
                    }
                },
                "velocity": {
                    "x": -0.9785171151161194,
                    "y": 0.006600073538720608,
                    "z": 0.009995870292186737
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6418380737304688,
                "transform": {
                    "location": {
                        "x": -160.3191375732422,
                        "y": 4295.2138671875,
                        "z": 373.0330505371094
                    },
                    "rotation": {
                        "roll": 0.00020268010848667473,
                        "pitch": 0.5218742489814758,
                        "yaw": 179.63006591796875
                    }
                },
                "velocity": {
                    "x": -1.641793131828308,
                    "y": 0.010552776046097279,
                    "z": 0.0060156057588756084
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00023351758136413991,
                "transform": {
                    "location": {
                        "x": -142.07632446289062,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": 0.0010475862072780728,
                        "pitch": 0.21467965841293335,
                        "yaw": 179.6948699951172
                    }
                },
                "velocity": {
                    "x": 2.64376399172761e-06,
                    "y": -1.036522689901176e-06,
                    "z": 0.00023350030824076384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39189612865448,
        "expert_target_speed": 10.0,
        "target_point": [
            25.89398092515193,
            0.26523518766752024
        ],
        "target_point_next": [
            36.89376755083973,
            0.19984732985186962
        ]
    },
    "900": {
        "acceleration": [
            -2.799251079559326,
            -0.010287294164299965,
            0.008967779576778412
        ],
        "angular_velocity": [
            -0.005313553381711245,
            0.2250494658946991,
            0.16362892091274261
        ],
        "forward_vector": [
            -0.9999688863754272,
            0.00019755543326027691,
            0.007887043058872223
        ],
        "right_vector": [
            -0.00019758704002015293,
            -1.0,
            -3.2294717584591126e-06
        ],
        "location": [
            -160.67726135253906,
            4292.48291015625,
            373.03460693359375
        ],
        "rotation": [
            0.00018504085892345756,
            0.4518989622592926,
            179.98867797851562
        ],
        "velocity": [
            -1.299999475479126,
            0.0009886124171316624,
            0.003198556834831834
        ],
        "speed": 1.2999998513848046,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.84596252441406,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2931748642586172e-05,
                -3.8065131775510963e-06,
                0.0008742711506783962
            ],
            "speed_kmh": 0.003147750255163158,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.089925765991211,
                "transform": {
                    "location": {
                        "x": -174.4933624267578,
                        "y": 4335.00048828125,
                        "z": 373.1297912597656
                    },
                    "rotation": {
                        "roll": 0.0001492052833782509,
                        "pitch": -0.0205998495221138,
                        "yaw": -90.44046020507812
                    }
                },
                "velocity": {
                    "x": 0.004822068847715855,
                    "y": -2.0899195671081543,
                    "z": -0.0016172027681022882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00022441854525823146,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 1.117754709412111e-05,
                    "y": 5.961511817531573e-08,
                    "z": 0.0002241400070488453
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.851116242818534e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 3.0375196729437448e-05,
                    "y": -5.954389780526981e-05,
                    "z": -4.118099241168238e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.864113807678223,
                "transform": {
                    "location": {
                        "x": -109.06585693359375,
                        "y": 4301.611328125,
                        "z": 372.8420715332031
                    },
                    "rotation": {
                        "roll": -0.004333495628088713,
                        "pitch": -0.6461222171783447,
                        "yaw": -0.3416747450828552
                    }
                },
                "velocity": {
                    "x": 4.864012718200684,
                    "y": -0.023922447115182877,
                    "z": -0.020349983125925064
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005268175154924393,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 2.3863462956796866e-06,
                    "y": 2.23766292037908e-05,
                    "z": -0.0005263366620056331
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020741242042277008,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 1.5873498341534287e-05,
                    "y": -3.2918876968324184e-05,
                    "z": -0.0002041672996710986
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007521886145696044,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 9.737796972331125e-06,
                    "y": 2.705166650684987e-07,
                    "z": 0.0007521255174651742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.978706369409338e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 4.525109943642747e-06,
                    "y": 5.417141437646933e-06,
                    "z": -6.942918844288215e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013908070977777243,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 2.4977400244097225e-05,
                    "y": -8.031877769099083e-06,
                    "z": 0.0013905594823881984
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008743750513531268,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2931748642586172e-05,
                    "y": -3.8065131775510963e-06,
                    "z": 0.0008742711506783962
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00025588730932213366,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4324.720703125,
                        "z": 373.1166687011719
                    },
                    "rotation": {
                        "roll": 0.00038552391924895346,
                        "pitch": -0.04180758446455002,
                        "yaw": -90.10870361328125
                    }
                },
                "velocity": {
                    "x": -2.2802407784183742e-06,
                    "y": -2.1256273612380028e-06,
                    "z": -0.0002558683045208454
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007598469965159893,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.28857421875,
                        "z": 372.9298095703125
                    },
                    "rotation": {
                        "roll": 0.0014297511661425233,
                        "pitch": -0.2526555061340332,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": 3.04263176076347e-05,
                    "y": 0.0001353718835161999,
                    "z": 0.0007470716955140233
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -132.90928649902344,
                        "y": 4295.05078125,
                        "z": 372.9320983886719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.6351318359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007630534819327295,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 6.935894361959072e-06,
                    "y": 2.113163827743847e-05,
                    "z": 0.0007627292652614415
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00043400164577178657,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.727369847998489e-06,
                    "y": -2.3335427613346837e-05,
                    "z": 0.0004333049291744828
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.137094259262085,
                "transform": {
                    "location": {
                        "x": -151.4481964111328,
                        "y": 4295.16064453125,
                        "z": 372.9963073730469
                    },
                    "rotation": {
                        "roll": -0.001617430942133069,
                        "pitch": 0.22564895451068878,
                        "yaw": 179.3339080810547
                    }
                },
                "velocity": {
                    "x": -1.1370666027069092,
                    "y": 0.00618298863992095,
                    "z": 0.004951124079525471
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5779809951782227,
                "transform": {
                    "location": {
                        "x": -160.84320068359375,
                        "y": 4295.216796875,
                        "z": 373.03466796875
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.581781804561615,
                        "yaw": 179.62506103515625
                    }
                },
                "velocity": {
                    "x": -2.5779192447662354,
                    "y": 0.01579579897224903,
                    "z": 0.008274040184915066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.011644016019999981,
                "transform": {
                    "location": {
                        "x": -142.077880859375,
                        "y": 4295.1015625,
                        "z": 372.96728515625
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": 0.21507582068443298,
                        "yaw": 179.69512939453125
                    }
                },
                "velocity": {
                    "x": 0.01159949041903019,
                    "y": -2.8944972655153833e-05,
                    "z": 0.0010169028537347913
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4025796949863434,
        "expert_target_speed": 10.0,
        "target_point": [
            25.647759052316875,
            0.27019955721487204
        ],
        "target_point_next": [
            36.64755813069236,
            0.20694121405141314
        ]
    },
    "905": {
        "acceleration": [
            -4.23736572265625,
            0.010273035615682602,
            0.009729387238621712
        ],
        "angular_velocity": [
            0.01666903868317604,
            0.45670372247695923,
            -0.027886539697647095
        ],
        "forward_vector": [
            -0.9999577403068542,
            0.0003930482198484242,
            0.009186137467622757
        ],
        "right_vector": [
            -0.0003933993575628847,
            -0.9999999403953552,
            -3.641671355580911e-05
        ],
        "location": [
            -161.109130859375,
            4292.48291015625,
            373.0357971191406
        ],
        "rotation": [
            0.002086611930280924,
            0.5263343453407288,
            179.97747802734375
        ],
        "velocity": [
            -2.1511411666870117,
            0.002066359855234623,
            0.006405877880752087
        ],
        "speed": 2.1511421591467657,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.414093017578125,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.347725386352977e-06,
                6.432476766349282e-06,
                0.0003127270611003041
            ],
            "speed_kmh": 0.0011263661945339826,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.51241934299469,
                "transform": {
                    "location": {
                        "x": -174.49264526367188,
                        "y": 4334.48388671875,
                        "z": 373.1294860839844
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": 0.010156490840017796,
                        "yaw": -90.31478118896484
                    }
                },
                "velocity": {
                    "x": 0.0029059096705168486,
                    "y": -1.512415885925293,
                    "z": -0.0013505172682926059
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.360914216609672e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -7.96307449490996e-06,
                    "y": -3.190217512383242e-06,
                    "z": 8.316790626849979e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012339779641479254,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.326490958803333e-06,
                    "y": -2.519500185371726e-06,
                    "z": 0.00012315434287302196
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.967340596020222e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.939795765792951e-06,
                    "y": 5.618569502985338e-07,
                    "z": 6.964412750676274e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005693446844816208,
                "transform": {
                    "location": {
                        "x": -108.66382598876953,
                        "y": 4301.609375,
                        "z": 372.8397216796875
                    },
                    "rotation": {
                        "roll": 0.0036305668763816357,
                        "pitch": -0.9402984380722046,
                        "yaw": -0.5289306044578552
                    }
                },
                "velocity": {
                    "x": -0.005677502602338791,
                    "y": 4.8237357987090945e-05,
                    "z": 0.00042305293027311563
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007505256799049675,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 3.2438708785775816e-06,
                    "y": 1.5533613577645156e-06,
                    "z": -0.0007505170651711524
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024504412431269884,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 6.356499852699926e-06,
                    "y": 6.338620096357772e-06,
                    "z": -0.0002448796294629574
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.930557280313224e-05,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 8.587874617660418e-06,
                    "y": -1.1414786058594473e-05,
                    "z": -9.827282337937504e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000426116690505296,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 2.318050610483624e-05,
                    "y": -4.2941468564094976e-05,
                    "z": 0.0004233132931403816
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.278699973132461e-05,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.2356154002191033e-05,
                    "y": -2.8187278076075017e-05,
                    "z": 4.288671334506944e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003128795069642365,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.347725386352977e-06,
                    "y": 6.432476766349282e-06,
                    "z": 0.0003127270611003041
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.007188781164586544,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4324.71875,
                        "z": 373.11663818359375
                    },
                    "rotation": {
                        "roll": 3.699242006405257e-05,
                        "pitch": -0.0408923402428627,
                        "yaw": -90.10906219482422
                    }
                },
                "velocity": {
                    "x": 6.421811121981591e-05,
                    "y": 0.0071715544909238815,
                    "z": -0.0004932117299176753
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002226085343863815,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.9296875
                    },
                    "rotation": {
                        "roll": 0.0002871104807127267,
                        "pitch": -0.23586690425872803,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": -5.760004569310695e-05,
                    "y": 4.7393888962687925e-05,
                    "z": -0.00020973938808310777
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.048831332474946976,
                "transform": {
                    "location": {
                        "x": -132.9149932861328,
                        "y": 4295.05078125,
                        "z": 372.93182373046875
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.22310128808021545,
                        "yaw": 179.6380157470703
                    }
                },
                "velocity": {
                    "x": -0.04881185293197632,
                    "y": 0.0003060940944124013,
                    "z": 0.0013447379460558295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010468730761203915,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.6883201169548556e-05,
                    "y": 6.526592187583447e-05,
                    "z": 8.00921261543408e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00022284744773060083,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 9.143874194705859e-06,
                    "y": 5.05144100770849e-07,
                    "z": 0.00022265920415520668
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.322967529296875,
                "transform": {
                    "location": {
                        "x": -151.84483337402344,
                        "y": 4295.1640625,
                        "z": 372.9974670410156
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.26869961619377136,
                        "yaw": 179.48626708984375
                    }
                },
                "velocity": {
                    "x": -2.3229048252105713,
                    "y": 0.015535427257418633,
                    "z": 0.007034559268504381
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9698448181152344,
                "transform": {
                    "location": {
                        "x": -161.6648406982422,
                        "y": 4295.25244140625,
                        "z": 373.0368957519531
                    },
                    "rotation": {
                        "roll": 0.11771830171346664,
                        "pitch": 0.7338491678237915,
                        "yaw": 178.6209259033203
                    }
                },
                "velocity": {
                    "x": -3.9646143913269043,
                    "y": 0.20327040553092957,
                    "z": 0.013460454531013966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6192625164985657,
                "transform": {
                    "location": {
                        "x": -142.15484619140625,
                        "y": 4295.1015625,
                        "z": 372.9676208496094
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": 0.22541671991348267,
                        "yaw": 179.73072814941406
                    }
                },
                "velocity": {
                    "x": -0.6192536950111389,
                    "y": 0.002021858701482415,
                    "z": 0.0026178359985351562
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40553784370422363,
        "expert_target_speed": 10.0,
        "target_point": [
            25.215836263779938,
            0.27504408953832804
        ],
        "target_point_next": [
            36.21564749915157,
            0.2139362438727533
        ]
    },
    "910": {
        "acceleration": [
            -6.276345252990723,
            -0.07406948506832123,
            0.012099649757146835
        ],
        "angular_velocity": [
            -0.06405249238014221,
            0.8064247965812683,
            0.16101254522800446
        ],
        "forward_vector": [
            -0.9999279975891113,
            8.096906822174788e-05,
            0.012000152841210365
        ],
        "right_vector": [
            -7.963264943100512e-05,
            -1.0,
            0.00011184469622094184
        ],
        "location": [
            -161.80960083007812,
            4292.48291015625,
            373.03765869140625
        ],
        "rotation": [
            -0.006408690474927425,
            0.6875746250152588,
            179.995361328125
        ],
        "velocity": [
            -3.482771635055542,
            -0.006266796961426735,
            0.010782613418996334
        ],
        "speed": 3.4827772731961497,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 59.713623046875,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0871663107536733e-05,
                3.2207863114308566e-06,
                0.0010943928500637412
            ],
            "speed_kmh": 0.003940025714033855,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014795383904129267,
                "transform": {
                    "location": {
                        "x": -174.49249267578125,
                        "y": 4334.4404296875,
                        "z": 373.128662109375
                    },
                    "rotation": {
                        "roll": -0.002258308231830597,
                        "pitch": 0.10469996184110641,
                        "yaw": -90.33141326904297
                    }
                },
                "velocity": {
                    "x": 3.7984347727615386e-05,
                    "y": 0.000900152837857604,
                    "z": -0.0011735910084098577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0244778422929812e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 5.550490186578827e-06,
                    "y": -2.16127364183194e-06,
                    "z": 8.33525336929597e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002847825817298144,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 8.655115379951894e-06,
                    "y": 7.341966465901351e-07,
                    "z": 0.0002846500719897449
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.653484110254794e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.79081780515844e-05,
                    "y": 6.946121720829979e-05,
                    "z": 4.8401601816294715e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002750688698142767,
                "transform": {
                    "location": {
                        "x": -108.66069793701172,
                        "y": 4301.609375,
                        "z": 372.8404235839844
                    },
                    "rotation": {
                        "roll": 0.002099934732541442,
                        "pitch": -0.4121677279472351,
                        "yaw": -0.5288695693016052
                    }
                },
                "velocity": {
                    "x": -0.002268410287797451,
                    "y": 0.00015898884157650173,
                    "z": 0.0015476838452741504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3188133127405308e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 5.187652732274728e-06,
                    "y": 2.2022057237336412e-05,
                    "z": 5.080034043203341e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010092957381857559,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": -4.86467024529702e-06,
                    "y": -2.294528894708492e-05,
                    "z": 9.816632518777624e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00106144230812788,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 6.029345058777835e-06,
                    "y": 1.1481735782581381e-05,
                    "z": 0.0010613631457090378
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.210267747519538e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -1.924488606164232e-05,
                    "y": 5.902972043259069e-05,
                    "z": -1.3673376315637142e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009029149659909308,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.9118933778372593e-06,
                    "y": 3.0462219001492485e-05,
                    "z": 0.0009023989550769329
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010944516398012638,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0871663107536733e-05,
                    "y": 3.2207863114308566e-06,
                    "z": 0.0010943928500637412
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.412841796875
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3163146972656
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6359494924545288,
                "transform": {
                    "location": {
                        "x": -174.4832000732422,
                        "y": 4324.640625,
                        "z": 373.11651611328125
                    },
                    "rotation": {
                        "roll": -0.00018310610903427005,
                        "pitch": -0.030551433563232422,
                        "yaw": -90.1258773803711
                    }
                },
                "velocity": {
                    "x": -0.0011653519468382,
                    "y": -0.6359459161758423,
                    "z": -0.0017771052662283182
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004561720706988126,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.0004644166328944266,
                        "pitch": -0.23211713135242462,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": -7.610558532178402e-05,
                    "y": 4.711523615696933e-06,
                    "z": 0.0004497540357988328
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7315585613250732,
                "transform": {
                    "location": {
                        "x": -133.021484375,
                        "y": 4295.05078125,
                        "z": 372.9324645996094
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 0.23535464704036713,
                        "yaw": 179.6337432861328
                    }
                },
                "velocity": {
                    "x": -0.731543242931366,
                    "y": 0.004137746524065733,
                    "z": 0.002296667080372572
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005297749303281307,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 7.1993094934441615e-06,
                    "y": 2.1693607777706347e-05,
                    "z": 0.0005292816204018891
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008140100981108844,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 5.5591758609807584e-06,
                    "y": -1.995689126488287e-05,
                    "z": 0.0008137464174069464
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8157901763916016,
                "transform": {
                    "location": {
                        "x": -152.4140625,
                        "y": 4295.16259765625,
                        "z": 373.00006103515625
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": 0.18337690830230713,
                        "yaw": 179.01112365722656
                    }
                },
                "velocity": {
                    "x": -1.8157618045806885,
                    "y": 0.007514962460845709,
                    "z": 0.006843051873147488
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.760345458984375,
                "transform": {
                    "location": {
                        "x": -162.80093383789062,
                        "y": 4295.3095703125,
                        "z": 373.041015625
                    },
                    "rotation": {
                        "roll": 0.08033204078674316,
                        "pitch": 0.6868301033973694,
                        "yaw": 177.71156311035156
                    }
                },
                "velocity": {
                    "x": -4.752949237823486,
                    "y": 0.26471298933029175,
                    "z": 0.01695147529244423
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.348679780960083,
                "transform": {
                    "location": {
                        "x": -142.40890502929688,
                        "y": 4295.103515625,
                        "z": 372.9684753417969
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": 0.23038910329341888,
                        "yaw": 179.72970581054688
                    }
                },
                "velocity": {
                    "x": -1.34865140914917,
                    "y": 0.007814738899469376,
                    "z": 0.003931140992790461
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39646998047828674,
        "expert_target_speed": 10.0,
        "target_point": [
            24.515450969523027,
            0.2671120166484292
        ],
        "target_point_next": [
            35.51524258267281,
            0.20256862125090383
        ]
    },
    "915": {
        "acceleration": [
            -5.42572021484375,
            -0.1144537702202797,
            0.017816908657550812
        ],
        "angular_velocity": [
            -0.06204887107014656,
            0.16970890760421753,
            0.6912081837654114
        ],
        "forward_vector": [
            -0.9999014139175415,
            -0.002095170086249709,
            0.013882070779800415
        ],
        "right_vector": [
            0.002099919132888317,
            -0.9999977350234985,
            0.00032753724372014403
        ],
        "location": [
            -162.86648559570312,
            4292.47900390625,
            373.0408630371094
        ],
        "rotation": [
            -0.018768310546875,
            0.795409619808197,
            -179.87994384765625
        ],
        "velocity": [
            -4.879246234893799,
            -0.02665751241147518,
            0.015964392572641373
        ],
        "speed": 4.879319055328651,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 58.6567268371582,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0703987754823174e-05,
                4.106199412490241e-06,
                0.00039253875729627907
            ],
            "speed_kmh": 0.0014137421031450617,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003244727849960327,
                "transform": {
                    "location": {
                        "x": -174.49249267578125,
                        "y": 4334.44091796875,
                        "z": 373.1294860839844
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.004063962493091822,
                        "yaw": -90.33141326904297
                    }
                },
                "velocity": {
                    "x": 0.00012851950305048376,
                    "y": 4.752919267048128e-05,
                    "z": 0.0002941195562016219
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00011464694398455322,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 5.956623567726638e-07,
                    "y": -2.734856707320432e-06,
                    "z": 0.0001146127688116394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010076861508423463,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 3.214553032648837e-07,
                    "y": 1.1069967513321899e-05,
                    "z": 0.00010015820589615032
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9218077290570363e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 7.927305887278635e-06,
                    "y": 3.5108379961457103e-05,
                    "z": -1.5576169971609488e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001495295437052846,
                "transform": {
                    "location": {
                        "x": -108.65953063964844,
                        "y": 4301.609375,
                        "z": 372.8406982421875
                    },
                    "rotation": {
                        "roll": 0.00029923912370577455,
                        "pitch": -0.2714248597621918,
                        "yaw": -0.5288695693016052
                    }
                },
                "velocity": {
                    "x": -0.000506335636600852,
                    "y": 1.4241220014810096e-05,
                    "z": 0.0014068864984437823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.900103082647547e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 2.773478627204895e-06,
                    "y": -7.315848961297888e-06,
                    "z": -7.861265476094559e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00033022320712916553,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 3.0363351015694207e-06,
                    "y": 6.360757197398925e-06,
                    "z": -0.0003301479737274349
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00014494256174657494,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 5.047805643698666e-06,
                    "y": -2.4042219592956826e-05,
                    "z": 0.00014284549979493022
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00024146205396391451,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -4.7283247113227844e-06,
                    "y": -5.760919066233328e-06,
                    "z": -0.00024134700652211905
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006489885854534805,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 4.35490164818475e-06,
                    "y": -2.011904143728316e-06,
                    "z": 0.0006489708321169019
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00039270613342523575,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0703987754823174e-05,
                    "y": 4.106199412490241e-06,
                    "z": 0.00039253875729627907
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.09603413194417953,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2814636230469
                    },
                    "rotation": {
                        "roll": 0.0001484136882936582,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.00036499343696050346,
                    "y": 9.448465425521135e-05,
                    "z": -0.09603338688611984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.041874442249536514,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3175964355469
                    },
                    "rotation": {
                        "roll": -3.0517683626385406e-05,
                        "pitch": 0.22194015979766846,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00018441237625665963,
                    "y": -8.236889698309824e-05,
                    "z": 0.041873954236507416
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3635966777801514,
                "transform": {
                    "location": {
                        "x": -174.4835968017578,
                        "y": 4324.38623046875,
                        "z": 373.11627197265625
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": -0.026330377906560898,
                        "yaw": -90.078125
                    }
                },
                "velocity": {
                    "x": -0.0008860742091201246,
                    "y": -1.3635952472686768,
                    "z": -0.0017752456478774548
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004762429161928594,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.0004644166328944266,
                        "pitch": -0.23211713135242462,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": -6.975488940952346e-05,
                    "y": -3.912895863322774e-06,
                    "z": 0.0004710904904641211
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5488382577896118,
                "transform": {
                    "location": {
                        "x": -133.3082733154297,
                        "y": 4295.052734375,
                        "z": 372.9334411621094
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.24050460755825043,
                        "yaw": 179.62197875976562
                    }
                },
                "velocity": {
                    "x": -1.5487955808639526,
                    "y": 0.009361064061522484,
                    "z": 0.006654128897935152
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011892266338691115,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 5.780607352789957e-06,
                    "y": 1.12076929781324e-06,
                    "z": 0.0011892120819538832
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00035529094748198986,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.746609814290423e-05,
                    "y": 3.006227416335605e-05,
                    "z": 0.0003535856958478689
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.666668176651001,
                "transform": {
                    "location": {
                        "x": -153.1376495361328,
                        "y": 4295.16943359375,
                        "z": 373.0018615722656
                    },
                    "rotation": {
                        "roll": -0.0018310548039153218,
                        "pitch": 0.28567948937416077,
                        "yaw": 179.28305053710938
                    }
                },
                "velocity": {
                    "x": -3.6665561199188232,
                    "y": 0.02538997307419777,
                    "z": 0.013267278671264648
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.169252395629883,
                "transform": {
                    "location": {
                        "x": -163.886474609375,
                        "y": 4295.36962890625,
                        "z": 373.046630859375
                    },
                    "rotation": {
                        "roll": 0.03192433714866638,
                        "pitch": 0.21331362426280975,
                        "yaw": 177.19540405273438
                    }
                },
                "velocity": {
                    "x": -4.162064075469971,
                    "y": 0.24431709945201874,
                    "z": 0.014039182104170322
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.19748854637146,
                "transform": {
                    "location": {
                        "x": -142.85577392578125,
                        "y": 4295.1064453125,
                        "z": 372.9701232910156
                    },
                    "rotation": {
                        "roll": 0.0004384489730000496,
                        "pitch": 0.23286846280097961,
                        "yaw": 179.73037719726562
                    }
                },
                "velocity": {
                    "x": -2.197430372238159,
                    "y": 0.013949105516076088,
                    "z": 0.007830247282981873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.37097275257110596,
        "expert_target_speed": 10.0,
        "target_point": [
            23.45908349348255,
            0.21207869154476217
        ],
        "target_point_next": [
            34.45870863544231,
            0.12360203373802772
        ]
    },
    "920": {
        "acceleration": [
            -0.4439830780029297,
            -0.15049085021018982,
            -0.01173458993434906
        ],
        "angular_velocity": [
            -0.037940483540296555,
            -1.5504108667373657,
            1.281506061553955
        ],
        "forward_vector": [
            -0.9999182820320129,
            -0.006920510903000832,
            0.010748297907412052
        ],
        "right_vector": [
            0.006927715614438057,
            -0.9999758005142212,
            0.0006332630873657763
        ],
        "location": [
            -164.1991424560547,
            4292.46826171875,
            373.0463562011719
        ],
        "rotation": [
            -0.036285400390625,
            0.6158439517021179,
            -179.60345458984375
        ],
        "velocity": [
            -5.451730728149414,
            -0.06445907056331635,
            0.019621161743998528
        ],
        "speed": 5.452111783889471,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.32405471801758,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2089758456568234e-05,
                8.470016837236471e-06,
                0.0013833589619025588
            ],
            "speed_kmh": 0.004980375786538069,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006565487128682435,
                "transform": {
                    "location": {
                        "x": -174.49249267578125,
                        "y": 4334.44091796875,
                        "z": 373.1296081542969
                    },
                    "rotation": {
                        "roll": -0.0007629396859556437,
                        "pitch": -0.010135999880731106,
                        "yaw": -90.33141326904297
                    }
                },
                "velocity": {
                    "x": -5.751807111664675e-05,
                    "y": 3.645661490736529e-05,
                    "z": 0.0006530075334012508
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001389567187288776,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -1.836239971453324e-05,
                    "y": -5.46620231034467e-06,
                    "z": 0.000137629613163881
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.89734523196239e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.3587893894000445e-06,
                    "y": -1.0218632269243244e-06,
                    "z": 3.825877865892835e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009056528797373176,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 2.3003181922831573e-05,
                    "y": 6.658182974206284e-05,
                    "z": 0.0009029090870171785
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014264431083574891,
                "transform": {
                    "location": {
                        "x": -108.65929412841797,
                        "y": 4301.609375,
                        "z": 372.8407287597656
                    },
                    "rotation": {
                        "roll": 0.00041482815868221223,
                        "pitch": -0.24322302639484406,
                        "yaw": -0.528900146484375
                    }
                },
                "velocity": {
                    "x": -0.0001317113928962499,
                    "y": 8.089635230135173e-05,
                    "z": 0.001418043626472354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002902245905715972,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 1.0118409591086674e-05,
                    "y": 1.9508664991008118e-05,
                    "z": 0.0002893913188017905
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.6482557081617415e-05,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 1.0786428902065381e-05,
                    "y": 2.6348217943450436e-05,
                    "z": -3.674306208267808e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008040196844376624,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.2819214165210724
                    }
                },
                "velocity": {
                    "x": 8.282772796519566e-06,
                    "y": -2.0253371985745616e-05,
                    "z": 0.0008037218940444291
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00012446536857169122,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 2.055227741948329e-05,
                    "y": -6.382667925208807e-05,
                    "z": 0.00010485888924449682
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010746587067842484,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 7.748975804133806e-06,
                    "y": -2.417624455119949e-05,
                    "z": 0.0010743588209152222
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013834377750754356,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2089758456568234e-05,
                    "y": 8.470016837236471e-06,
                    "z": 0.0013833589619025588
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.03691811114549637,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2850341796875
                    },
                    "rotation": {
                        "roll": 0.0005066345329396427,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00015145483484957367,
                    "y": -7.244521839311346e-05,
                    "z": 0.036917731165885925
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.026695819571614265,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.32867431640625
                    },
                    "rotation": {
                        "roll": 0.0002100976707879454,
                        "pitch": 0.22245924174785614,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00013040997146163136,
                    "y": -0.00012762498226948082,
                    "z": 0.026695195585489273
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.991175889968872,
                "transform": {
                    "location": {
                        "x": -174.48367309570312,
                        "y": 4323.94287109375,
                        "z": 373.1159362792969
                    },
                    "rotation": {
                        "roll": 6.632087024627253e-05,
                        "pitch": -0.027095358818769455,
                        "yaw": -90.07803344726562
                    }
                },
                "velocity": {
                    "x": -0.002783612348139286,
                    "y": -1.9911731481552124,
                    "z": -0.0017331981798633933
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.0371523431967944e-05,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.0004644166328944266,
                        "pitch": -0.23211713135242462,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": 1.4543184079229832e-06,
                    "y": -4.6202167141018435e-06,
                    "z": 6.017690247972496e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7439041137695312,
                "transform": {
                    "location": {
                        "x": -133.7633514404297,
                        "y": 4295.0556640625,
                        "z": 372.9352722167969
                    },
                    "rotation": {
                        "roll": -0.00015258780331350863,
                        "pitch": 0.23187124729156494,
                        "yaw": 179.6201629638672
                    }
                },
                "velocity": {
                    "x": -1.743861198425293,
                    "y": 0.01076415553689003,
                    "z": 0.005812129937112331
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00033960596192628145,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": -3.0978023914940422e-06,
                    "y": -4.83814328617882e-05,
                    "z": 0.00033612773404456675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00012165924999862909,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.395408829324879e-06,
                    "y": 1.2479769111450878e-06,
                    "z": 0.00012142785271862522
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.950277090072632,
                "transform": {
                    "location": {
                        "x": -154.18031311035156,
                        "y": 4295.17626953125,
                        "z": 373.005859375
                    },
                    "rotation": {
                        "roll": -0.0016784666804596782,
                        "pitch": 0.2597179412841797,
                        "yaw": 179.29864501953125
                    }
                },
                "velocity": {
                    "x": -3.9501640796661377,
                    "y": 0.026256484910845757,
                    "z": 0.014285926707088947
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.194023132324219,
                "transform": {
                    "location": {
                        "x": -164.9606170654297,
                        "y": 4295.431640625,
                        "z": 373.05029296875
                    },
                    "rotation": {
                        "roll": 0.013509024865925312,
                        "pitch": 0.20674298703670502,
                        "yaw": 176.885986328125
                    }
                },
                "velocity": {
                    "x": -4.1863694190979,
                    "y": 0.25288841128349304,
                    "z": 0.013773612678050995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9252631664276123,
                "transform": {
                    "location": {
                        "x": -143.49937438964844,
                        "y": 4295.10986328125,
                        "z": 372.9725036621094
                    },
                    "rotation": {
                        "roll": 0.00012255659385118634,
                        "pitch": 0.23266355693340302,
                        "yaw": 179.70057678222656
                    }
                },
                "velocity": {
                    "x": -2.925184965133667,
                    "y": 0.01849999651312828,
                    "z": 0.0106964111328125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3504469096660614,
        "expert_target_speed": 10.0,
        "target_point": [
            22.127134468197447,
            0.09735377800481607
        ],
        "target_point_next": [
            33.12620458930956,
            -0.04420134718932561
        ]
    },
    "925": {
        "acceleration": [
            -4.347953796386719,
            -0.1286657154560089,
            0.010729953646659851
        ],
        "angular_velocity": [
            0.018790284171700478,
            0.43365567922592163,
            0.8633633255958557
        ],
        "forward_vector": [
            -0.9998568892478943,
            -0.011403289623558521,
            0.01249590702354908
        ],
        "right_vector": [
            0.011410527862608433,
            -0.9999347925186157,
            0.0005080913542769849
        ],
        "location": [
            -165.71812438964844,
            4292.44873046875,
            373.05120849609375
        ],
        "rotation": [
            -0.0291137658059597,
            0.7159813642501831,
            -179.34657287597656
        ],
        "velocity": [
            -6.814136981964111,
            -0.09577696770429611,
            0.022548016160726547
        ],
        "speed": 6.8148100513890775,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.805049896240234,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0958910024783108e-05,
                1.0875713087443728e-05,
                0.0009722565882839262
            ],
            "speed_kmh": 0.003500565015805373,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5395129323005676,
                "transform": {
                    "location": {
                        "x": -174.49264526367188,
                        "y": 4334.38916015625,
                        "z": 373.12994384765625
                    },
                    "rotation": {
                        "roll": 0.0005785369430668652,
                        "pitch": -0.05615098029375076,
                        "yaw": -90.31512451171875
                    }
                },
                "velocity": {
                    "x": -0.0004096963966730982,
                    "y": -0.5395119190216064,
                    "z": 0.0009424972231499851
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00018022797303274274,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 1.412633810105035e-05,
                    "y": -2.9001757866353728e-06,
                    "z": 0.00017965010192710906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00021269774879328907,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 8.177086783689447e-06,
                    "y": -4.680391612055246e-06,
                    "z": 0.00021248897246550769
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.154839840950444e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 2.1583287889370695e-05,
                    "y": -6.816002132836729e-05,
                    "z": 2.7470700842968654e-06
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013698218390345573,
                "transform": {
                    "location": {
                        "x": -108.65921783447266,
                        "y": 4301.609375,
                        "z": 372.84075927734375
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.23473992943763733,
                        "yaw": -0.5289002060890198
                    }
                },
                "velocity": {
                    "x": -1.1875107475134428e-06,
                    "y": -4.13157140428666e-05,
                    "z": -0.000130597545648925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00041224018787033856,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 6.277114152908325e-07,
                    "y": 3.194003875250928e-05,
                    "z": -0.000411000510212034
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017147832841146737,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 2.5583236492821015e-05,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63063049316406
                    }
                },
                "velocity": {
                    "x": 1.3914331020714599e-06,
                    "y": 4.274785896996036e-05,
                    "z": -0.00016605872951913625
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005705170333385468,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.1419372558594
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.20068460702896118,
                        "yaw": -0.2821044325828552
                    }
                },
                "velocity": {
                    "x": 3.336183681312832e-06,
                    "y": 3.3953732781810686e-05,
                    "z": 0.0005694960127584636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003390479541849345,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 6.755105914635351e-06,
                    "y": -0.00012114943820051849,
                    "z": 0.00031659234082326293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007272016955539584,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 8.149593668349553e-06,
                    "y": 1.1369108506187331e-05,
                    "z": 0.0007270671776495874
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00097237917361781,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0958910024783108e-05,
                    "y": 1.0875713087443728e-05,
                    "z": 0.0009722565882839262
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00580601068213582,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2897644042969
                    },
                    "rotation": {
                        "roll": 0.00043161632493138313,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 2.9532015105360188e-05,
                    "y": -1.1035760508093517e-05,
                    "z": 0.005805925466120243
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.004259177949279547,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3318176269531
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": 0.22357256710529327,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.6963704183581285e-05,
                    "y": -6.069079245207831e-05,
                    "z": 0.004258711822330952
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011712718987837434,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.7822265625,
                        "z": 373.11627197265625
                    },
                    "rotation": {
                        "roll": -0.0002746585523709655,
                        "pitch": -0.07897747308015823,
                        "yaw": -90.03777313232422
                    }
                },
                "velocity": {
                    "x": -5.1394305046414956e-05,
                    "y": 2.556124127295334e-05,
                    "z": -0.0011698645539581776
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005234074196778238,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.0006876001716591418,
                        "pitch": -0.23071694374084473,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": -1.7109012333094142e-05,
                    "y": -6.193295121192932e-06,
                    "z": 0.0005230910610407591
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06746350973844528,
                "transform": {
                    "location": {
                        "x": -133.8340606689453,
                        "y": 4295.05615234375,
                        "z": 372.9358215332031
                    },
                    "rotation": {
                        "roll": -6.10351053182967e-05,
                        "pitch": 0.19442816078662872,
                        "yaw": 179.61734008789062
                    }
                },
                "velocity": {
                    "x": -0.06744663417339325,
                    "y": 0.0006192498258315027,
                    "z": 0.0013761615846306086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009013503440655768,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 2.6936082576867193e-05,
                    "y": 1.364598938380368e-05,
                    "z": 0.0009008444030769169
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00040044367779046297,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.3168341865821276e-05,
                    "y": -3.6862631986878114e-06,
                    "z": 0.0004002101195510477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9385424852371216,
                "transform": {
                    "location": {
                        "x": -154.5910186767578,
                        "y": 4295.1796875,
                        "z": 373.0082092285156
                    },
                    "rotation": {
                        "roll": 5.562006845138967e-05,
                        "pitch": 0.12848950922489166,
                        "yaw": 179.39718627929688
                    }
                },
                "velocity": {
                    "x": -1.9384832382202148,
                    "y": 0.011820207349956036,
                    "z": 0.009478969499468803
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.116196632385254,
                "transform": {
                    "location": {
                        "x": -165.9667205810547,
                        "y": 4295.4921875,
                        "z": 373.0539245605469
                    },
                    "rotation": {
                        "roll": 0.0027215247973799706,
                        "pitch": 0.15339921414852142,
                        "yaw": 176.7035369873047
                    }
                },
                "velocity": {
                    "x": -4.108426094055176,
                    "y": 0.25241199135780334,
                    "z": 0.014046058058738708
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6158738136291504,
                "transform": {
                    "location": {
                        "x": -144.32664489746094,
                        "y": 4295.11572265625,
                        "z": 372.97552490234375
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": 0.2308603823184967,
                        "yaw": 179.67340087890625
                    }
                },
                "velocity": {
                    "x": -3.615773916244507,
                    "y": 0.023135606199502945,
                    "z": 0.013668890111148357
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27943289279937744,
        "expert_target_speed": 10.0,
        "target_point": [
            20.608242662442358,
            -0.00406538258049316
        ],
        "target_point_next": [
            31.606567534925535,
            -0.19493544814291153
        ]
    },
    "930": {
        "acceleration": [
            -4.524545669555664,
            -0.13259068131446838,
            0.0041528791189193726
        ],
        "angular_velocity": [
            0.01197386346757412,
            -0.11272654682397842,
            0.6493977308273315
        ],
        "forward_vector": [
            -0.9998096823692322,
            -0.014934627339243889,
            0.012554195709526539
        ],
        "right_vector": [
            0.0149421077221632,
            -0.9998882412910461,
            0.0005022324621677399
        ],
        "location": [
            -167.56991577148438,
            4292.42138671875,
            373.0574951171875
        ],
        "rotation": [
            -0.028778066858649254,
            0.7193213105201721,
            -179.1442108154297
        ],
        "velocity": [
            -7.935331344604492,
            -0.1304701268672943,
            0.02573539689183235
        ],
        "speed": 7.93640384573941,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 53.953243255615234,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                5.712360234610969e-06,
                -1.6462892745039426e-05,
                -5.8912308304570615e-05
            ],
            "speed_kmh": 0.00022116772108329033,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3839800357818604,
                "transform": {
                    "location": {
                        "x": -174.49327087402344,
                        "y": 4334.1376953125,
                        "z": 373.1302795410156
                    },
                    "rotation": {
                        "roll": 0.0013036038726568222,
                        "pitch": -0.09353943914175034,
                        "yaw": -90.23773193359375
                    }
                },
                "velocity": {
                    "x": 0.0022873578127473593,
                    "y": -1.3839781284332275,
                    "z": -0.0003459072031546384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.196954200277105e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 6.3240713643608615e-06,
                    "y": -2.8944480163772823e-06,
                    "z": -6.157801544759423e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.194878369569778e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 9.07648336578859e-06,
                    "y": 2.0479448892274377e-07,
                    "z": 6.127991218818352e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003503002517390996,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -5.229428279562853e-05,
                    "y": 2.1068943169666454e-05,
                    "z": 0.0003457335405983031
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00035931207821704447,
                "transform": {
                    "location": {
                        "x": -108.65921783447266,
                        "y": 4301.609375,
                        "z": 372.84075927734375
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.23473992943763733,
                        "yaw": -0.5289002060890198
                    }
                },
                "velocity": {
                    "x": -1.4234929949452635e-05,
                    "y": 1.3330147794476943e-06,
                    "z": -0.00035902750096283853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.904364454385359e-06,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 6.848573320894502e-06,
                    "y": -8.586529247622821e-07,
                    "z": -1.7321625023214438e-07
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010451295383973047,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 5.2110614434663916e-11,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63084411621094
                    }
                },
                "velocity": {
                    "x": 1.0314955716239638e-06,
                    "y": 1.756590609147679e-05,
                    "z": 0.00010302102600689977
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.751310477033257e-05,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.20068460702896118,
                        "yaw": -0.2821044325828552
                    }
                },
                "velocity": {
                    "x": 6.04733804721036e-06,
                    "y": 1.9017846852875664e-07,
                    "z": 7.727661431999877e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.999782736878842e-05,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -1.0320209185010754e-05,
                    "y": -2.3778572995070135e-06,
                    "z": 2.8066147933714092e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009731134632602334,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.2620053894352168e-05,
                    "y": -9.00665509107057e-06,
                    "z": 0.000972989946603775
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.143547943793237e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 5.712360234610969e-06,
                    "y": -1.6462892745039426e-05,
                    "z": -5.8912308304570615e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00019349606009200215,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2900390625
                    },
                    "rotation": {
                        "roll": 0.0005898331291973591,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 6.9423763306986075e-06,
                    "y": 8.529648039257154e-05,
                    "z": 0.0001735426194500178
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0017710864776745439,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3321838378906
                    },
                    "rotation": {
                        "roll": 0.00023594820231664926,
                        "pitch": 0.2234906107187271,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 4.571638783090748e-06,
                    "y": 5.256234544503968e-06,
                    "z": 0.0017710727406665683
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0017132752109318972,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.7822265625,
                        "z": 373.1160583496094
                    },
                    "rotation": {
                        "roll": -0.0007934544119052589,
                        "pitch": -0.04886316880583763,
                        "yaw": -90.03777313232422
                    }
                },
                "velocity": {
                    "x": 1.4830410464128363e-06,
                    "y": 1.003243050945457e-05,
                    "z": -0.0017132451757788658
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.7381276342784986e-05,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.000751526968088001,
                        "pitch": -0.23088769614696503,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": 5.101729129819432e-06,
                    "y": -1.532833994133398e-05,
                    "z": 3.371014827280305e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7776056528091431,
                "transform": {
                    "location": {
                        "x": -133.9384307861328,
                        "y": 4295.056640625,
                        "z": 372.93609619140625
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": 0.23063498735427856,
                        "yaw": 179.64048767089844
                    }
                },
                "velocity": {
                    "x": -0.7775847315788269,
                    "y": 0.005254813469946384,
                    "z": 0.0022223186679184437
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009443418821319938,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 8.23274240246974e-06,
                    "y": -1.0008779099734966e-05,
                    "z": 0.000944252940826118
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.535020707407966e-05,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 2.6295333555026446e-06,
                    "y": 2.04290627152659e-05,
                    "z": -4.0402726881438866e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.1612846851348877,
                "transform": {
                    "location": {
                        "x": -155.20242309570312,
                        "y": 4295.18505859375,
                        "z": 373.009521484375
                    },
                    "rotation": {
                        "roll": -0.0021362300030887127,
                        "pitch": 0.267463356256485,
                        "yaw": 179.5511932373047
                    }
                },
                "velocity": {
                    "x": -3.1612136363983154,
                    "y": 0.01822708733379841,
                    "z": 0.010814657434821129
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.906151294708252,
                "transform": {
                    "location": {
                        "x": -167.0575714111328,
                        "y": 4295.6796875,
                        "z": 373.0569763183594
                    },
                    "rotation": {
                        "roll": 0.6853201985359192,
                        "pitch": 0.3776889443397522,
                        "yaw": 172.44845581054688
                    }
                },
                "velocity": {
                    "x": -4.761300563812256,
                    "y": 1.1832119226455688,
                    "z": 0.018680838868021965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.530235528945923,
                "transform": {
                    "location": {
                        "x": -145.12046813964844,
                        "y": 4295.1201171875,
                        "z": 372.9788513183594
                    },
                    "rotation": {
                        "roll": -6.103511987021193e-05,
                        "pitch": 0.19734464585781097,
                        "yaw": 179.62548828125
                    }
                },
                "velocity": {
                    "x": -2.5301668643951416,
                    "y": 0.0163282360881567,
                    "z": 0.009002923965454102
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20257066190242767,
        "expert_target_speed": 10.0,
        "target_point": [
            18.756106540683415,
            -0.07653465689098643
        ],
        "target_point_next": [
            29.753688674814388,
            -0.30624879588366444
        ]
    },
    "935": {
        "acceleration": [
            -3.2098960876464844,
            -0.12343257665634155,
            0.018317215144634247
        ],
        "angular_velocity": [
            0.10690849274396896,
            -0.22989436984062195,
            0.4829827547073364
        ],
        "forward_vector": [
            -0.9997782707214355,
            -0.017383769154548645,
            0.011878925375640392
        ],
        "right_vector": [
            0.017386142164468765,
            -0.9998488426208496,
            9.63996208156459e-05
        ],
        "location": [
            -169.683349609375,
            4292.384765625,
            373.0647888183594
        ],
        "rotation": [
            -0.005523681174963713,
            0.6806282997131348,
            -179.0038604736328
        ],
        "velocity": [
            -8.898588180541992,
            -0.16329501569271088,
            0.03078390099108219
        ],
        "speed": 8.900086340538037,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 51.839813232421875,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2684762623393908e-05,
                -9.062706340046134e-06,
                0.0010786306811496615
            ],
            "speed_kmh": 0.00388347600493122,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7865303754806519,
                "transform": {
                    "location": {
                        "x": -174.49366760253906,
                        "y": 4333.70849609375,
                        "z": 373.1298828125
                    },
                    "rotation": {
                        "roll": -0.0003051775856874883,
                        "pitch": -0.06469555199146271,
                        "yaw": -90.18474578857422
                    }
                },
                "velocity": {
                    "x": 0.0016591557068750262,
                    "y": -1.786528468132019,
                    "z": -0.0019564437679946423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003014147514477372,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": -2.8215954444021918e-06,
                    "y": -2.661263579284423e-06,
                    "z": 0.0003013898094650358
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00025103683583438396,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 1.0112709787790664e-05,
                    "y": -3.4615251820468984e-07,
                    "z": 0.00025083281798288226
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00039413943886756897,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.9027069356525317e-05,
                    "y": -9.677993512013927e-05,
                    "z": 0.0003815986274275929
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014936801744624972,
                "transform": {
                    "location": {
                        "x": -108.65921783447266,
                        "y": 4301.609375,
                        "z": 372.84075927734375
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.23473992943763733,
                        "yaw": -0.5289002060890198
                    }
                },
                "velocity": {
                    "x": 2.503793621144723e-05,
                    "y": 3.44895597663708e-05,
                    "z": -0.0001431585696991533
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.157374734058976e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 5.039833467890276e-06,
                    "y": -6.647738700849004e-06,
                    "z": 9.11929746507667e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.528012398921419e-05,
                "transform": {
                    "location": {
                        "x": -123.92984008789062,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": 5.2110614434663916e-11,
                        "pitch": 0.22646856307983398,
                        "yaw": 179.63084411621094
                    }
                },
                "velocity": {
                    "x": 7.275119060068391e-06,
                    "y": 3.2149020512406423e-07,
                    "z": -1.3433224012260325e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008414423209615052,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.20068460702896118,
                        "yaw": -0.2821044325828552
                    }
                },
                "velocity": {
                    "x": 8.307099051307887e-06,
                    "y": 6.250222099879466e-07,
                    "z": 0.0008414010517299175
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001900251372717321,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 3.4275649340997916e-06,
                    "y": -3.0537053135049064e-06,
                    "z": 0.00018996967992279679
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010017267195507884,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.457508642488392e-05,
                    "y": 4.252409325999906e-06,
                    "z": 0.0010016115847975016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00107874337118119,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2684762623393908e-05,
                    "y": -9.062706340046134e-06,
                    "z": 0.0010786306811496615
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0017878104699775577,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2900390625
                    },
                    "rotation": {
                        "roll": 0.0005898331291973591,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.615062274140655e-06,
                    "y": 1.5488278222619556e-05,
                    "z": -0.0017877425998449326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001116417464800179,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.33233642578125
                    },
                    "rotation": {
                        "roll": -0.00015258791972883046,
                        "pitch": 0.2234974354505539,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 2.2419430024456233e-05,
                    "y": -4.841387635678984e-05,
                    "z": 0.0011151419021189213
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002822676324285567,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.7822265625,
                        "z": 373.115966796875
                    },
                    "rotation": {
                        "roll": -0.001281739678233862,
                        "pitch": -0.04577592387795448,
                        "yaw": -90.03777313232422
                    }
                },
                "velocity": {
                    "x": 2.4881341232685372e-05,
                    "y": 6.132526095825597e-07,
                    "z": 0.0002811682061292231
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001265345636056736,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.0006203916273079813,
                        "pitch": -0.2308603823184967,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": -2.799925277940929e-05,
                    "y": -2.2011696273693815e-05,
                    "z": 0.00012141878687543795
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4947757720947266,
                "transform": {
                    "location": {
                        "x": -134.2218780517578,
                        "y": 4295.05859375,
                        "z": 372.9369812011719
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.2388380467891693,
                        "yaw": 179.60430908203125
                    }
                },
                "velocity": {
                    "x": -1.4947320222854614,
                    "y": 0.00973291415721178,
                    "z": 0.006013049744069576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011286508524790406,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 5.876458999409806e-06,
                    "y": 2.281277920701541e-05,
                    "z": 0.0011284049833193421
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00032240548171103,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.4380551874637604e-05,
                    "y": 1.7691638277028687e-05,
                    "z": 0.0003215983451809734
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.296526908874512,
                "transform": {
                    "location": {
                        "x": -156.11859130859375,
                        "y": 4295.19189453125,
                        "z": 373.0126037597656
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.28634199500083923,
                        "yaw": 179.75003051757812
                    }
                },
                "velocity": {
                    "x": -4.296422481536865,
                    "y": 0.026243217289447784,
                    "z": 0.014467744156718254
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.368608474731445,
                "transform": {
                    "location": {
                        "x": -168.34085083007812,
                        "y": 4296.00341796875,
                        "z": 373.0626220703125
                    },
                    "rotation": {
                        "roll": 0.45189082622528076,
                        "pitch": 0.47961586713790894,
                        "yaw": 167.73336791992188
                    }
                },
                "velocity": {
                    "x": -5.167656898498535,
                    "y": 1.4548908472061157,
                    "z": 0.023934202268719673
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006228101556189358,
                "transform": {
                    "location": {
                        "x": -145.40342712402344,
                        "y": 4295.12109375,
                        "z": 372.9802551269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15229271352291107,
                        "yaw": 179.46267700195312
                    }
                },
                "velocity": {
                    "x": 4.306021946831606e-05,
                    "y": 7.094873581081629e-05,
                    "z": 0.0006172556895762682
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1362806111574173,
        "expert_target_speed": 10.0,
        "target_point": [
            16.642111707725803,
            -0.12235100805390153
        ],
        "target_point_next": [
            27.639098161426336,
            -0.37900314565846427
        ]
    },
    "940": {
        "acceleration": [
            -2.9162216186523438,
            -0.13323158025741577,
            0.014233440160751343
        ],
        "angular_velocity": [
            0.14009499549865723,
            -0.30012670159339905,
            0.4218628406524658
        ],
        "forward_vector": [
            -0.9997557401657104,
            -0.01934884488582611,
            0.010681902058422565
        ],
        "right_vector": [
            0.01934485323727131,
            -0.9998127818107605,
            -0.0004770182422362268
        ],
        "location": [
            -172.00929260253906,
            4292.34033203125,
            373.0733642578125
        ],
        "rotation": [
            0.027332693338394165,
            0.6120395660400391,
            -178.89126586914062
        ],
        "velocity": [
            -9.652702331542969,
            -0.19466689229011536,
            0.03450556844472885
        ],
        "speed": 9.654665064119467,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 49.513912200927734,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.272697985172272e-06,
                -1.5855994206503965e-05,
                0.00028303705039434135
            ],
            "speed_kmh": 0.0010208668005822754,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001512210350483656,
                "transform": {
                    "location": {
                        "x": -174.4938201904297,
                        "y": 4333.62548828125,
                        "z": 373.1285095214844
                    },
                    "rotation": {
                        "roll": -0.0005187917267903686,
                        "pitch": 0.10451555252075195,
                        "yaw": -90.1666259765625
                    }
                },
                "velocity": {
                    "x": -6.09344579061144e-06,
                    "y": 0.0007436595042236149,
                    "z": -0.001316705602221191
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000360237987479195,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 1.0154642041015904e-05,
                    "y": -2.6077498205268057e-06,
                    "z": 0.00036008539609611034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001689645432634279,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 1.2990459481443395e-06,
                    "y": -2.5011118850670755e-05,
                    "z": 0.00016709810006432235
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.69742686720565e-05,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 8.889659852684417e-07,
                    "y": 6.77560456097126e-06,
                    "z": 9.673318709246814e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00018542450561653823,
                "transform": {
                    "location": {
                        "x": -108.65921783447266,
                        "y": 4301.609375,
                        "z": 372.84075927734375
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.23473992943763733,
                        "yaw": -0.5289002060890198
                    }
                },
                "velocity": {
                    "x": 1.3026668966631405e-05,
                    "y": 1.4693543562316336e-05,
                    "z": -0.00018438181723468006
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.822907870518975e-05,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 9.920820048137102e-06,
                    "y": -6.623014996876009e-06,
                    "z": -1.3784495422441978e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.05138986185193062,
                "transform": {
                    "location": {
                        "x": -123.9324951171875,
                        "y": 4295.00048828125,
                        "z": 372.9361572265625
                    },
                    "rotation": {
                        "roll": -0.00027465811581350863,
                        "pitch": 0.23070329427719116,
                        "yaw": 179.63177490234375
                    }
                },
                "velocity": {
                    "x": -0.05138487368822098,
                    "y": 0.0003267092106398195,
                    "z": 0.0006372928619384766
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00032828812254592776,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.20068460702896118,
                        "yaw": -0.2821044325828552
                    }
                },
                "velocity": {
                    "x": 7.904022822913248e-06,
                    "y": 8.846850505506154e-06,
                    "z": 0.00032807368552312255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00040815657121129334,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 3.7525482184719294e-05,
                    "y": 3.433147503528744e-05,
                    "z": 0.00040497526060789824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014677856815978885,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.854706533777062e-05,
                    "y": -9.86841678241035e-06,
                    "z": 0.001467635273002088
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00028357410337775946,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.272697985172272e-06,
                    "y": -1.5855994206503965e-05,
                    "z": 0.00028303705039434135
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00037984305527061224,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 5.839020104758674e-06,
                    "y": 4.862359219259815e-06,
                    "z": -0.00037976703606545925
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016899863258004189,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.33233642578125
                    },
                    "rotation": {
                        "roll": -0.00015258791972883046,
                        "pitch": 0.2234974354505539,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4763510989723727e-05,
                    "y": 4.8170146328629926e-05,
                    "z": 0.0016892350977286696
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00014022024697624147,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.7822265625,
                        "z": 373.115966796875
                    },
                    "rotation": {
                        "roll": -0.001281739678233862,
                        "pitch": -0.04577592387795448,
                        "yaw": -90.03777313232422
                    }
                },
                "velocity": {
                    "x": 1.739264371281024e-05,
                    "y": -3.402847823963384e-06,
                    "z": -0.00013909577683079988
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.443323506275192e-05,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.0006203916273079813,
                        "pitch": -0.2308603823184967,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": 1.314445398747921e-06,
                    "y": -6.8506224124575965e-06,
                    "z": 9.41752441576682e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3406174182891846,
                "transform": {
                    "location": {
                        "x": -134.70530700683594,
                        "y": 4295.06201171875,
                        "z": 372.9388122558594
                    },
                    "rotation": {
                        "roll": -0.0005187985952943563,
                        "pitch": 0.24049778282642365,
                        "yaw": 179.60409545898438
                    }
                },
                "velocity": {
                    "x": -2.340559482574463,
                    "y": 0.014201818034052849,
                    "z": 0.008357238955795765
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011153014202136546,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 3.8977336771495175e-06,
                    "y": -0.0001098038992495276,
                    "z": 1.9154233086737804e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003405859461054206,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 9.650028914620634e-06,
                    "y": -3.049276529054623e-07,
                    "z": 0.00034044907079078257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.508462905883789,
                "transform": {
                    "location": {
                        "x": -157.37342834472656,
                        "y": 4295.19873046875,
                        "z": 373.01702880859375
                    },
                    "rotation": {
                        "roll": -6.10351053182967e-05,
                        "pitch": 0.28800857067108154,
                        "yaw": 179.69857788085938
                    }
                },
                "velocity": {
                    "x": -5.508340835571289,
                    "y": 0.031761713325977325,
                    "z": 0.018346300348639488
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.725495338439941,
                "transform": {
                    "location": {
                        "x": -169.7586669921875,
                        "y": 4296.44580078125,
                        "z": 373.0679626464844
                    },
                    "rotation": {
                        "roll": 0.6578589677810669,
                        "pitch": 0.7153598070144653,
                        "yaw": 163.48187255859375
                    }
                },
                "velocity": {
                    "x": -6.30969762802124,
                    "y": 2.3279001712799072,
                    "z": 0.02971653826534748
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5016140937805176,
                "transform": {
                    "location": {
                        "x": -145.4492950439453,
                        "y": 4295.12109375,
                        "z": 372.97998046875
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": 0.2107044905424118,
                        "yaw": 179.46612548828125
                    }
                },
                "velocity": {
                    "x": -0.5015944838523865,
                    "y": 0.003493806580081582,
                    "z": 0.0027268598787486553
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.7140563130378723,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09128499776124954,
        "expert_target_speed": 9.718632887765569,
        "target_point": [
            14.31547185171868,
            -0.15447198479069804
        ],
        "target_point_next": [
            25.31193274060045,
            -0.43273319643082564
        ]
    },
    "945": {
        "acceleration": [
            0.0339508056640625,
            0.11661350727081299,
            -0.13813361525535583
        ],
        "angular_velocity": [
            -0.42436039447784424,
            -1.0444201231002808,
            -0.14705167710781097
        ],
        "forward_vector": [
            -0.9997531771659851,
            -0.020324310287833214,
            0.008972523733973503
        ],
        "right_vector": [
            0.020318856462836266,
            -0.999793291091919,
            -0.0006984540377743542
        ],
        "location": [
            -174.49522399902344,
            4292.2900390625,
            373.0827941894531
        ],
        "rotation": [
            0.04002008214592934,
            0.5140946507453918,
            -178.8353729248047
        ],
        "velocity": [
            -10.123515129089355,
            -0.20130221545696259,
            0.030928373336791992
        ],
        "speed": 10.125516339962568,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 47.02808380126953,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.624915785214398e-05,
                -1.5636407624697313e-05,
                0.0013602899853140116
            ],
            "speed_kmh": 0.004897716814975928,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.4938201904297,
                        "y": 4333.6259765625,
                        "z": 373.1292419433594
                    },
                    "rotation": {
                        "roll": -9.155346197076142e-05,
                        "pitch": 0.012362641282379627,
                        "yaw": -90.16665649414062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.462305347871734e-06,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 7.896360187942264e-08,
                    "y": -2.369210051256232e-06,
                    "z": -7.075776466081152e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.70396846847143e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.005780844338005e-06,
                    "y": -1.6786462992968154e-06,
                    "z": 3.6332348827272654e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00015579795581288636,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -1.197278470499441e-05,
                    "y": 1.1224071386095602e-05,
                    "z": 0.00015493120008613914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002997981500811875,
                "transform": {
                    "location": {
                        "x": -108.65921783447266,
                        "y": 4301.609375,
                        "z": 372.84075927734375
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.23473992943763733,
                        "yaw": -0.5289002060890198
                    }
                },
                "velocity": {
                    "x": 6.873383881611517e-06,
                    "y": 4.010597933756799e-07,
                    "z": -0.00029971907497383654
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00047432619612663984,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 8.191243068722542e-06,
                    "y": -3.303804260212928e-05,
                    "z": -0.00047310328227467835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.53280639648438,
                        "y": 4294.9404296875,
                        "z": 372.8567199707031
                    },
                    "rotation": {
                        "roll": 0.0008977357647381723,
                        "pitch": 0.2264958918094635,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5463502407073975,
                "transform": {
                    "location": {
                        "x": -123.98726654052734,
                        "y": 4295.00048828125,
                        "z": 372.9360046386719
                    },
                    "rotation": {
                        "roll": -0.0007934570894576609,
                        "pitch": 0.2670057415962219,
                        "yaw": 179.63560485839844
                    }
                },
                "velocity": {
                    "x": -0.5463455319404602,
                    "y": 0.001160882064141333,
                    "z": 0.0019514465238898993
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001329065882600844,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.20068460702896118,
                        "yaw": -0.2821044325828552
                    }
                },
                "velocity": {
                    "x": 6.936601948837051e-06,
                    "y": 1.645255360926967e-05,
                    "z": 0.0013289459748193622
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004943016683682799,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -2.262964699184522e-06,
                    "y": 6.103127816459164e-06,
                    "z": -0.0004942588275298476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012732275063171983,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.710385004116688e-05,
                    "y": 1.8193336472904775e-06,
                    "z": 0.001273111323826015
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013604768319055438,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.624915785214398e-05,
                    "y": -1.5636407624697313e-05,
                    "z": 0.0013602899853140116
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007410518592223525,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 4.70180066258763e-06,
                    "y": 1.2290391168789938e-05,
                    "z": -0.0007409350364468992
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012981260661035776,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3323669433594
                    },
                    "rotation": {
                        "roll": 0.00039619163726456463,
                        "pitch": 0.22375015914440155,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 2.4187304006773047e-05,
                    "y": -3.880012081936002e-05,
                    "z": 0.001297320588491857
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00027267387486062944,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.7822265625,
                        "z": 373.115966796875
                    },
                    "rotation": {
                        "roll": -0.001281739678233862,
                        "pitch": -0.04577592387795448,
                        "yaw": -90.03777313232422
                    }
                },
                "velocity": {
                    "x": 7.415800155285979e-06,
                    "y": -1.707510023152281e-06,
                    "z": 0.0002725676749832928
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.6519944589817896e-05,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.0006203916273079813,
                        "pitch": -0.2308603823184967,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": -8.568272278353106e-06,
                    "y": -6.431713700294495e-06,
                    "z": 4.5269447582541034e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0601344108581543,
                "transform": {
                    "location": {
                        "x": -135.38381958007812,
                        "y": 4295.06591796875,
                        "z": 372.9415588378906
                    },
                    "rotation": {
                        "roll": 0.00035591053892858326,
                        "pitch": 0.239083930850029,
                        "yaw": 179.6175994873047
                    }
                },
                "velocity": {
                    "x": -3.0600554943084717,
                    "y": 0.01930575631558895,
                    "z": 0.010523748584091663
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017637727432884276,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.9741839423659258e-05,
                    "y": 8.346212780452333e-06,
                    "z": -0.00017507011943962425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00010157564247492701,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 7.389299298665719e-06,
                    "y": 5.697281153516087e-07,
                    "z": 0.00010130491136806086
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.103268623352051,
                "transform": {
                    "location": {
                        "x": -158.30569458007812,
                        "y": 4295.203125,
                        "z": 373.0221252441406
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.03137105703353882,
                        "yaw": 179.65357971191406
                    }
                },
                "velocity": {
                    "x": -2.1032278537750244,
                    "y": 0.011168387718498707,
                    "z": 0.006848354358226061
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.101116180419922,
                "transform": {
                    "location": {
                        "x": -171.44921875,
                        "y": 4297.2265625,
                        "z": 373.075927734375
                    },
                    "rotation": {
                        "roll": 1.470916748046875,
                        "pitch": 0.8251550793647766,
                        "yaw": 155.13076782226562
                    }
                },
                "velocity": {
                    "x": -6.962351322174072,
                    "y": 4.141573905944824,
                    "z": 0.03335709497332573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.207781195640564,
                "transform": {
                    "location": {
                        "x": -145.66265869140625,
                        "y": 4295.123046875,
                        "z": 372.9806823730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22897525131702423,
                        "yaw": 179.4832305908203
                    }
                },
                "velocity": {
                    "x": -1.2077531814575195,
                    "y": 0.0077788266353309155,
                    "z": 0.0026726149953901768
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.330006867647171,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03885055333375931,
        "expert_target_speed": 10.0,
        "target_point": [
            11.828874262832032,
            -0.1681936700827849
        ],
        "target_point_next": [
            22.825058444378453,
            -0.45718299188926
        ]
    },
    "950": {
        "acceleration": [
            -3.4922218322753906,
            0.027292072772979736,
            -0.05081102252006531
        ],
        "angular_velocity": [
            -0.29022642970085144,
            0.48278623819351196,
            -0.5221946239471436
        ],
        "forward_vector": [
            -0.999791145324707,
            -0.01835613138973713,
            0.008982297964394093
        ],
        "right_vector": [
            0.018353480845689774,
            -0.99983149766922,
            -0.00037756175152026117
        ],
        "location": [
            -177.1328125,
            4292.24072265625,
            373.0906677246094
        ],
        "rotation": [
            0.0216335691511631,
            0.5146546959877014,
            -178.9481658935547
        ],
        "velocity": [
            -11.079099655151367,
            -0.19656062126159668,
            0.03671630844473839
        ],
        "speed": 11.080843164967451,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 44.39067459106445,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0098628081323113e-05,
                -3.862714493152453e-06,
                0.0004849214747082442
            ],
            "speed_kmh": 0.0017461511915448102,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005009129527024925,
                "transform": {
                    "location": {
                        "x": -174.4938201904297,
                        "y": 4333.6259765625,
                        "z": 373.12945556640625
                    },
                    "rotation": {
                        "roll": -0.0005798335769213736,
                        "pitch": -0.009855962358415127,
                        "yaw": -90.16665649414062
                    }
                },
                "velocity": {
                    "x": -2.1829404431628063e-05,
                    "y": 3.892201493727043e-05,
                    "z": -0.0004989212029613554
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.573248538188636e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 1.7574559024069458e-05,
                    "y": 5.250144567980897e-07,
                    "z": -6.333734199870378e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020130244956817478,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 9.678825335868169e-06,
                    "y": 1.9555824337658123e-07,
                    "z": 0.00020106954616494477
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005922238924540579,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 1.2327916920185089e-05,
                    "y": -5.566998879658058e-05,
                    "z": 0.000589472649153322
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000361692626029253,
                "transform": {
                    "location": {
                        "x": -108.65921783447266,
                        "y": 4301.609375,
                        "z": 372.84075927734375
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.23473992943763733,
                        "yaw": -0.5289002060890198
                    }
                },
                "velocity": {
                    "x": 6.014779046381591e-06,
                    "y": -1.8051290680887178e-05,
                    "z": -0.000361191836418584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004038408224005252,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 6.377473255270161e-06,
                    "y": -1.131468479798059e-06,
                    "z": -0.00040378887206315994
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.05733354389667511,
                "transform": {
                    "location": {
                        "x": -113.54093170166016,
                        "y": 4294.9404296875,
                        "z": 372.8564758300781
                    },
                    "rotation": {
                        "roll": 0.0005560459685511887,
                        "pitch": 0.24744407832622528,
                        "yaw": 179.70877075195312
                    }
                },
                "velocity": {
                    "x": -0.057331837713718414,
                    "y": 0.00039968470809981227,
                    "z": 0.00019007682567462325
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.356960654258728,
                "transform": {
                    "location": {
                        "x": -124.22257232666016,
                        "y": 4295.001953125,
                        "z": 372.9366455078125
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.3032398819923401,
                        "yaw": 179.594970703125
                    }
                },
                "velocity": {
                    "x": -1.3569368124008179,
                    "y": 0.006658262573182583,
                    "z": 0.0045143794268369675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000802728405687958,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.20068460702896118,
                        "yaw": -0.2821044325828552
                    }
                },
                "velocity": {
                    "x": 7.220022325782338e-06,
                    "y": -2.4251407012343407e-05,
                    "z": 0.000802329508587718
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000531580823007971,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": 3.312082844786346e-05,
                    "y": -3.4665998100535944e-05,
                    "z": -0.0005294142756611109
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013123963726684451,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.8383338101557456e-05,
                    "y": 5.327655526343733e-05,
                    "z": 0.001311185653321445
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00048504199367016554,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0098628081323113e-05,
                    "y": -3.862714493152453e-06,
                    "z": 0.0004849214747082442
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.40994417667388916,
                "transform": {
                    "location": {
                        "x": -231.5438995361328,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.00011376567272236571,
                        "pitch": 0.22874301671981812,
                        "yaw": 179.6699676513672
                    }
                },
                "velocity": {
                    "x": -0.40993234515190125,
                    "y": -0.0020342783536762,
                    "z": 0.002356996526941657
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013352505629882216,
                "transform": {
                    "location": {
                        "x": -232.32952880859375,
                        "y": 4295.69970703125,
                        "z": 373.3323669433594
                    },
                    "rotation": {
                        "roll": 0.00039619163726456463,
                        "pitch": 0.22375015914440155,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 8.299201908812393e-06,
                    "y": 3.8224421587074175e-05,
                    "z": 0.0013346775667741895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00016793227405287325,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.7822265625,
                        "z": 373.115966796875
                    },
                    "rotation": {
                        "roll": -0.001281739678233862,
                        "pitch": -0.04577592387795448,
                        "yaw": -90.03777313232422
                    }
                },
                "velocity": {
                    "x": 4.702800652012229e-06,
                    "y": -2.0280201624700567e-06,
                    "z": 0.00016785415937192738
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023162901925388724,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.0003737290680874139,
                        "pitch": -0.23074427247047424,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": -2.1266172552714124e-05,
                    "y": -1.7381011275574565e-05,
                    "z": 0.00022999489738140255
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4288277626037598,
                "transform": {
                    "location": {
                        "x": -136.11328125,
                        "y": 4295.06982421875,
                        "z": 372.9444580078125
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.21284234523773193,
                        "yaw": 179.62722778320312
                    }
                },
                "velocity": {
                    "x": -2.428765296936035,
                    "y": 0.0146633917465806,
                    "z": 0.00936010293662548
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007001841440796852,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.4403648492589127e-05,
                    "y": 5.647679699904984e-06,
                    "z": 0.0007000131881795824
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004702985752373934,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 1.1257939149800222e-05,
                    "y": 1.7090867913793772e-05,
                    "z": 0.00046985308290459216
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.919508695602417,
                "transform": {
                    "location": {
                        "x": -159.07077026367188,
                        "y": 4295.2080078125,
                        "z": 373.0232849121094
                    },
                    "rotation": {
                        "roll": -0.0009765622089616954,
                        "pitch": 0.2326703816652298,
                        "yaw": 179.5572967529297
                    }
                },
                "velocity": {
                    "x": -3.9194114208221436,
                    "y": 0.0242795217782259,
                    "z": 0.013184642419219017
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.191521644592285,
                "transform": {
                    "location": {
                        "x": -173.11764526367188,
                        "y": 4298.431640625,
                        "z": 373.08489990234375
                    },
                    "rotation": {
                        "roll": 2.046232223510742,
                        "pitch": 0.4628204107284546,
                        "yaw": 142.74598693847656
                    }
                },
                "velocity": {
                    "x": -6.109179496765137,
                    "y": 5.456974506378174,
                    "z": 0.01940038613975048
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0205788612365723,
                "transform": {
                    "location": {
                        "x": -146.06546020507812,
                        "y": 4295.1259765625,
                        "z": 372.9820861816406
                    },
                    "rotation": {
                        "roll": -0.0010681150015443563,
                        "pitch": 0.23250645399093628,
                        "yaw": 179.5188751220703
                    }
                },
                "velocity": {
                    "x": -2.020526170730591,
                    "y": 0.013239103369414806,
                    "z": 0.006120862904936075
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0032239591237157583,
        "expert_target_speed": 10.0,
        "target_point": [
            9.191133058198139,
            -0.1457989214639688
        ],
        "target_point_next": [
            20.187864778731544,
            -0.4131429867137341
        ]
    },
    "955": {
        "acceleration": [
            -0.7899093627929688,
            0.011615157127380371,
            -0.0032054632902145386
        ],
        "angular_velocity": [
            0.3268892168998718,
            -0.6766391396522522,
            -0.22841402888298035
        ],
        "forward_vector": [
            -0.999821126461029,
            -0.017005622386932373,
            0.0082756532356143
        ],
        "right_vector": [
            0.01700167916715145,
            -0.9998552799224854,
            -0.0005466089933179319
        ],
        "location": [
            -179.96334838867188,
            4292.19189453125,
            373.0992126464844
        ],
        "rotation": [
            0.03131946176290512,
            0.4741653800010681,
            -179.02557373046875
        ],
        "velocity": [
            -11.47240924835205,
            -0.19449663162231445,
            0.0373065285384655
        ],
        "speed": 11.47405782194713,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 41.560394287109375,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                3.8607045098615345e-06,
                -4.853365226153983e-06,
                3.4802396839950234e-05
            ],
            "speed_kmh": 0.00012726226686652348,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00027419126126915216,
                "transform": {
                    "location": {
                        "x": -174.4938201904297,
                        "y": 4333.6259765625,
                        "z": 373.12945556640625
                    },
                    "rotation": {
                        "roll": -0.0005798335769213736,
                        "pitch": -0.009855962358415127,
                        "yaw": -90.16665649414062
                    }
                },
                "velocity": {
                    "x": 2.1939273210591637e-05,
                    "y": 1.3656990631716326e-05,
                    "z": 0.00027297070482745767
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.194839079398662e-05,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 2.715154039378831e-07,
                    "y": -2.3455265818483895e-06,
                    "z": 6.190337444422767e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5780573448864743e-05,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 6.68056281938334e-06,
                    "y": -4.787696639141359e-07,
                    "z": -1.428871473763138e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00016040987975429744,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 3.553960414137691e-05,
                    "y": 7.38713497412391e-05,
                    "z": -0.0001378814340569079
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -108.65921783447266,
                        "y": 4301.609375,
                        "z": 372.8407287597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7609490156173706,
                "transform": {
                    "location": {
                        "x": -113.6484375,
                        "y": 4294.94091796875,
                        "z": 372.85638427734375
                    },
                    "rotation": {
                        "roll": 0.0018905523465946317,
                        "pitch": 0.4188135266304016,
                        "yaw": 179.72006225585938
                    }
                },
                "velocity": {
                    "x": -0.7609277367591858,
                    "y": 0.005349787883460522,
                    "z": 0.0019443988567218184
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1692442893981934,
                "transform": {
                    "location": {
                        "x": -124.65585327148438,
                        "y": 4295.00439453125,
                        "z": 372.9382629394531
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": 0.31396329402923584,
                        "yaw": 179.61636352539062
                    }
                },
                "velocity": {
                    "x": -2.1691906452178955,
                    "y": 0.013398281298577785,
                    "z": 0.007330198306590319
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.599982665036805e-05,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.20068460702896118,
                        "yaw": -0.2821044325828552
                    }
                },
                "velocity": {
                    "x": 5.645230430673109e-06,
                    "y": 2.570091623965709e-07,
                    "z": 3.555351941031404e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003298567025922239,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -1.179128867079271e-05,
                    "y": 3.0397586670005694e-05,
                    "z": -0.0003282413526903838
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008072679629549384,
                "transform": {
                    "location": {
                        "x": -222.31170654296875,
                        "y": 4295.580078125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22075852751731873,
                        "yaw": 179.49847412109375
                    }
                },
                "velocity": {
                    "x": 1.805752435757313e-05,
                    "y": -8.112831892503891e-06,
                    "z": 0.0008070252370089293
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5350629332242534e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 3.8607045098615345e-06,
                    "y": -4.853365226153983e-06,
                    "z": 3.4802396839950234e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2549078464508057,
                "transform": {
                    "location": {
                        "x": -231.76663208007812,
                        "y": 4292.484375,
                        "z": 373.2906799316406
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 0.24139253795146942,
                        "yaw": 179.7339630126953
                    }
                },
                "velocity": {
                    "x": -1.254873514175415,
                    "y": -0.008580409921705723,
                    "z": 0.0035138512030243874
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.823850154876709,
                "transform": {
                    "location": {
                        "x": -232.3856201171875,
                        "y": 4295.69970703125,
                        "z": 373.33209228515625
                    },
                    "rotation": {
                        "roll": -0.0019531248835846782,
                        "pitch": 0.28937461972236633,
                        "yaw": 179.67572021484375
                    }
                },
                "velocity": {
                    "x": -0.8238430023193359,
                    "y": -0.0022429705131798983,
                    "z": 0.00260926247574389
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001033789711073041,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.7822265625,
                        "z": 373.115966796875
                    },
                    "rotation": {
                        "roll": -0.001281739678233862,
                        "pitch": -0.04577592387795448,
                        "yaw": -90.03777313232422
                    }
                },
                "velocity": {
                    "x": 3.3147516660392284e-06,
                    "y": -2.652001512615243e-06,
                    "z": 0.001033780979923904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018096104031428695,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.0003737290680874139,
                        "pitch": -0.23074427247047424,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": 6.049745479685953e-06,
                    "y": -1.3868659152649343e-05,
                    "z": 0.00018032736261375248
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011640407610684633,
                "transform": {
                    "location": {
                        "x": -136.3234405517578,
                        "y": 4295.07177734375,
                        "z": 372.9457092285156
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": 0.1685485690832138,
                        "yaw": 179.66891479492188
                    }
                },
                "velocity": {
                    "x": 5.761150168837048e-05,
                    "y": 7.179550266300794e-06,
                    "z": 0.001162592088803649
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00040501824696548283,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 2.1852776626474224e-05,
                    "y": 4.447862374945544e-05,
                    "z": 0.00040197500493377447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00018333004845771939,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 9.7342954177293e-06,
                    "y": 1.6981288354145363e-05,
                    "z": 0.00018228215049020946
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.20631742477417,
                "transform": {
                    "location": {
                        "x": -160.21725463867188,
                        "y": 4295.21484375,
                        "z": 373.0268249511719
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.28449103236198425,
                        "yaw": 179.57293701171875
                    }
                },
                "velocity": {
                    "x": -5.206202983856201,
                    "y": 0.02989276312291622,
                    "z": 0.01731126755475998
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7820563316345215,
                "transform": {
                    "location": {
                        "x": -174.45835876464844,
                        "y": 4299.859375,
                        "z": 373.0899658203125
                    },
                    "rotation": {
                        "roll": 2.1560752391815186,
                        "pitch": -0.019226981326937675,
                        "yaw": 131.582275390625
                    }
                },
                "velocity": {
                    "x": -4.695812702178955,
                    "y": 6.205607891082764,
                    "z": 0.01325705461204052
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7532901763916016,
                "transform": {
                    "location": {
                        "x": -146.6652374267578,
                        "y": 4295.1298828125,
                        "z": 372.9842529296875
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": 0.23252011835575104,
                        "yaw": 179.55221557617188
                    }
                },
                "velocity": {
                    "x": -2.753215789794922,
                    "y": 0.01756196655333042,
                    "z": 0.010087976232171059
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.04156197980046272,
        "expert_target_speed": 10.0,
        "target_point": [
            17.357447719835243,
            -0.38654639847175015
        ],
        "target_point_next": [
            17.357447719835243,
            -0.38654639847175015
        ]
    },
    "960": {
        "acceleration": [
            -0.8622550964355469,
            0.009389519691467285,
            -0.052546337246894836
        ],
        "angular_velocity": [
            0.15608960390090942,
            -0.18753908574581146,
            -0.23278313875198364
        ],
        "forward_vector": [
            -0.9998496174812317,
            -0.01605517789721489,
            0.006553722079843283
        ],
        "right_vector": [
            0.016050145030021667,
            -0.999870777130127,
            -0.0008198181167244911
        ],
        "location": [
            -182.8571014404297,
            4292.1435546875,
            373.10980224609375
        ],
        "rotation": [
            0.046973131597042084,
            0.3755033016204834,
            -179.08004760742188
        ],
        "velocity": [
            -11.668280601501465,
            -0.18634653091430664,
            0.042268093675374985
        ],
        "speed": 11.669768516339953,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 38.666996002197266,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.829513146542013e-06,
                4.606871470969054e-07,
                0.0012715673074126244
            ],
            "speed_kmh": 0.004577779377055157,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010912508150795475,
                "transform": {
                    "location": {
                        "x": -174.4938201904297,
                        "y": 4333.6259765625,
                        "z": 373.1294860839844
                    },
                    "rotation": {
                        "roll": 3.4518216125434265e-05,
                        "pitch": -0.013400830328464508,
                        "yaw": -90.16665649414062
                    }
                },
                "velocity": {
                    "x": 1.3283882253745105e-05,
                    "y": 1.3185674106352963e-05,
                    "z": 0.0001075079562724568
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.850160853995476e-06,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 1.165738083841461e-07,
                    "y": -2.3282225356524577e-06,
                    "z": -1.6398802245021216e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00016964657697826624,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 7.379054750344949e-06,
                    "y": 8.543158855900401e-07,
                    "z": 0.00016948387201409787
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00017125182785093784,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -7.035620456008473e-06,
                    "y": -2.7614883038040716e-06,
                    "z": 0.00017108496103901416
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -108.65921783447266,
                        "y": 4301.609375,
                        "z": 372.8407287597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00037833733949810266,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": 9.410679012944456e-06,
                    "y": 8.841570888762362e-06,
                    "z": -0.00037811690708622336
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5540772676467896,
                "transform": {
                    "location": {
                        "x": -113.94851684570312,
                        "y": 4294.94287109375,
                        "z": 372.8571472167969
                    },
                    "rotation": {
                        "roll": 0.00042573106475174427,
                        "pitch": 0.5267441868782043,
                        "yaw": 179.72421264648438
                    }
                },
                "velocity": {
                    "x": -1.5540457963943481,
                    "y": 0.008014382794499397,
                    "z": 0.005791816394776106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.423232316970825,
                "transform": {
                    "location": {
                        "x": -125.3508529663086,
                        "y": 4295.00830078125,
                        "z": 372.94061279296875
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.35031354427337646,
                        "yaw": 179.63059997558594
                    }
                },
                "velocity": {
                    "x": -3.4231460094451904,
                    "y": 0.020375646650791168,
                    "z": 0.013234633952379227
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001043691299855709,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.20068460702896118,
                        "yaw": -0.2821044325828552
                    }
                },
                "velocity": {
                    "x": 9.745247552928049e-06,
                    "y": 1.8475064280210063e-05,
                    "z": 0.001043482217937708
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002683411294128746,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -9.974911336030345e-06,
                    "y": 4.8904137656791136e-05,
                    "z": -0.00026365858502686024
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15129166841506958,
                "transform": {
                    "location": {
                        "x": -222.31983947753906,
                        "y": 4295.580078125,
                        "z": 373.24853515625
                    },
                    "rotation": {
                        "roll": 0.00014465385174844414,
                        "pitch": 0.22754773497581482,
                        "yaw": 179.4994354248047
                    }
                },
                "velocity": {
                    "x": -0.1512778103351593,
                    "y": 0.0006579769542440772,
                    "z": 0.001939487410709262
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012716053752228618,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.829513146542013e-06,
                    "y": 4.606871470969054e-07,
                    "z": 0.0012715673074126244
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0726423263549805,
                "transform": {
                    "location": {
                        "x": -232.18812561035156,
                        "y": 4292.48291015625,
                        "z": 373.2923889160156
                    },
                    "rotation": {
                        "roll": 0.00014330132398754358,
                        "pitch": 0.24025872349739075,
                        "yaw": 179.9159698486328
                    }
                },
                "velocity": {
                    "x": -2.072565793991089,
                    "y": -0.0162946954369545,
                    "z": 0.007206468377262354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6971876621246338,
                "transform": {
                    "location": {
                        "x": -232.7109375,
                        "y": 4295.69970703125,
                        "z": 373.33306884765625
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.316838800907135,
                        "yaw": 179.75709533691406
                    }
                },
                "velocity": {
                    "x": -1.6971687078475952,
                    "y": -0.004991284105926752,
                    "z": 0.006284303497523069
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.469284562626854e-05,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.7822265625,
                        "z": 373.115966796875
                    },
                    "rotation": {
                        "roll": -0.001281739678233862,
                        "pitch": -0.04577592387795448,
                        "yaw": -90.03777313232422
                    }
                },
                "velocity": {
                    "x": 6.872683115943801e-06,
                    "y": -2.565975137258647e-06,
                    "z": 6.427555490517989e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001496156764915213,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": -3.052265310543589e-05,
                        "pitch": -0.23101747035980225,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": -2.231033067801036e-05,
                    "y": -1.9544362658052705e-05,
                    "z": 0.000146646227221936
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.11843905597925186,
                "transform": {
                    "location": {
                        "x": -136.3300018310547,
                        "y": 4295.07177734375,
                        "z": 372.94537353515625
                    },
                    "rotation": {
                        "roll": -0.00021362306142691523,
                        "pitch": 0.21458403766155243,
                        "yaw": 179.66265869140625
                    }
                },
                "velocity": {
                    "x": -0.11842993646860123,
                    "y": 0.000719255767762661,
                    "z": 0.0012816238449886441
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009441088768653572,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 1.4653541256848257e-05,
                    "y": 5.986727842355322e-07,
                    "z": 0.0009439949644729495
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008866932475939393,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 5.465038157126401e-06,
                    "y": 2.0814695744775236e-05,
                    "z": 0.0008864320698194206
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6855266094207764,
                "transform": {
                    "location": {
                        "x": -161.39678955078125,
                        "y": 4295.220703125,
                        "z": 373.0323486328125
                    },
                    "rotation": {
                        "roll": 0.0019795554690063,
                        "pitch": 0.08621064573526382,
                        "yaw": 179.30979919433594
                    }
                },
                "velocity": {
                    "x": -2.685389995574951,
                    "y": 0.025320950895547867,
                    "z": 0.009649286046624184
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.18332290649414,
                "transform": {
                    "location": {
                        "x": -175.5371856689453,
                        "y": 4301.5341796875,
                        "z": 373.0915222167969
                    },
                    "rotation": {
                        "roll": 2.1415836811065674,
                        "pitch": 0.08078064024448395,
                        "yaw": 121.67491149902344
                    }
                },
                "velocity": {
                    "x": -3.75032639503479,
                    "y": 7.273361682891846,
                    "z": 0.0057119461707770824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.508543014526367,
                "transform": {
                    "location": {
                        "x": -147.453125,
                        "y": 4295.1357421875,
                        "z": 372.9871826171875
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": 0.23146143555641174,
                        "yaw": 179.58226013183594
                    }
                },
                "velocity": {
                    "x": -3.5084457397460938,
                    "y": 0.022360311821103096,
                    "z": 0.013547658920288086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0805894136428833,
        "expert_target_speed": 10.0,
        "target_point": [
            14.463651233909518,
            -0.37191583400159345
        ],
        "target_point_next": [
            14.463651233909518,
            -0.37191583400159345
        ]
    },
    "965": {
        "acceleration": [
            0.06376266479492188,
            0.17900705337524414,
            -0.028568431735038757
        ],
        "angular_velocity": [
            0.11444900184869766,
            -0.3483227789402008,
            -0.8959742188453674
        ],
        "forward_vector": [
            -0.9998920559883118,
            -0.013750563375651836,
            0.005181169603019953
        ],
        "right_vector": [
            0.013746852055191994,
            -0.9999052286148071,
            -0.0007512328447774053
        ],
        "location": [
            -185.7908477783203,
            4292.1005859375,
            373.12060546875
        ],
        "rotation": [
            0.04304305091500282,
            0.2968604862689972,
            -179.2121124267578
        ],
        "velocity": [
            -11.775534629821777,
            -0.15115420520305634,
            0.0426468551158905
        ],
        "speed": 11.776504719647612,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 35.733680725097656,
        "front_vehicle_info": {
            "id": 3923,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.782127563084941e-06,
                -7.019369149929844e-06,
                0.0004498085763771087
            ],
            "speed_kmh": 0.0016198908641051743,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.164719444408547e-05,
                "transform": {
                    "location": {
                        "x": -174.4938201904297,
                        "y": 4333.6259765625,
                        "z": 373.1294860839844
                    },
                    "rotation": {
                        "roll": 3.4518216125434265e-05,
                        "pitch": -0.013400830328464508,
                        "yaw": -90.16665649414062
                    }
                },
                "velocity": {
                    "x": -1.1939222531509586e-05,
                    "y": 7.299701337615261e-06,
                    "z": 1.6515761672053486e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00028353757807053626,
                "transform": {
                    "location": {
                        "x": -174.49789428710938,
                        "y": 4314.64501953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0025939964689314365,
                        "pitch": -0.07413487136363983,
                        "yaw": -87.54906463623047
                    }
                },
                "velocity": {
                    "x": 8.27867097541457e-06,
                    "y": -6.218533599167131e-07,
                    "z": 0.0002834160113707185
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001572036708239466,
                "transform": {
                    "location": {
                        "x": -220.90733337402344,
                        "y": 4302.220703125,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -0.005310058128088713,
                        "pitch": -0.22430339455604553,
                        "yaw": 0.768492579460144
                    }
                },
                "velocity": {
                    "x": 8.847861863614526e-06,
                    "y": -6.688076155114686e-07,
                    "z": 0.00015695305773988366
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3937,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00022444016940426081,
                "transform": {
                    "location": {
                        "x": -212.7098388671875,
                        "y": 4298.95263671875,
                        "z": 373.2233581542969
                    },
                    "rotation": {
                        "roll": 0.0013659429969266057,
                        "pitch": -0.22689887881278992,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": -9.271092494600452e-06,
                    "y": -7.838367309886962e-05,
                    "z": 0.00021010338969063014
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3936,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -108.65921783447266,
                        "y": 4301.609375,
                        "z": 372.8407287597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016505829989910126,
                "transform": {
                    "location": {
                        "x": -210.31710815429688,
                        "y": 4302.1904296875,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.219030499458313,
                        "yaw": 0.07718265056610107
                    }
                },
                "velocity": {
                    "x": -2.7184187274542637e-06,
                    "y": 1.976321254915092e-05,
                    "z": -0.00016384830814786255
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3932,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -114.64374542236328,
                        "y": 4294.97216796875,
                        "z": 372.8613586425781
                    },
                    "rotation": {
                        "roll": -5.2110614434663916e-11,
                        "pitch": 0.22637978196144104,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3927,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6001768112182617,
                "transform": {
                    "location": {
                        "x": -126.30101013183594,
                        "y": 4295.01416015625,
                        "z": 372.9449768066406
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.27954596281051636,
                        "yaw": 179.6448974609375
                    }
                },
                "velocity": {
                    "x": -3.6000893115997314,
                    "y": 0.021230854094028473,
                    "z": 0.01338006928563118
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002766313264146447,
                "transform": {
                    "location": {
                        "x": -192.64476013183594,
                        "y": 4298.84716796875,
                        "z": 373.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.20068460702896118,
                        "yaw": -0.2821044325828552
                    }
                },
                "velocity": {
                    "x": 8.477232768200338e-06,
                    "y": 3.924178145098267e-06,
                    "z": 0.00027647355454973876
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3925,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002832597238011658,
                "transform": {
                    "location": {
                        "x": -191.4978790283203,
                        "y": 4302.0966796875,
                        "z": 373.14410400390625
                    },
                    "rotation": {
                        "roll": 0.0055168927647173405,
                        "pitch": -0.20000842213630676,
                        "yaw": -1.8632197380065918
                    }
                },
                "velocity": {
                    "x": -1.0932310942735057e-05,
                    "y": 2.0280605895095505e-05,
                    "z": -0.00028232118347659707
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3924,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9882913827896118,
                "transform": {
                    "location": {
                        "x": -222.47171020507812,
                        "y": 4295.58056640625,
                        "z": 373.24896240234375
                    },
                    "rotation": {
                        "roll": -0.0017395014874637127,
                        "pitch": 0.2669442594051361,
                        "yaw": 179.47084045410156
                    }
                },
                "velocity": {
                    "x": -0.9882724285125732,
                    "y": 0.005862408317625523,
                    "z": 0.0017843246459960938
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3923,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00044996969518251717,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.782127563084941e-06,
                    "y": -7.019369149929844e-06,
                    "z": 0.0004498085763771087
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.810396909713745,
                "transform": {
                    "location": {
                        "x": -232.80148315429688,
                        "y": 4292.47998046875,
                        "z": 373.2947692871094
                    },
                    "rotation": {
                        "roll": 0.00014745097723789513,
                        "pitch": 0.2401767522096634,
                        "yaw": -179.8748321533203
                    }
                },
                "velocity": {
                    "x": -2.810295581817627,
                    "y": -0.021669477224349976,
                    "z": 0.009964999742805958
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.733180046081543,
                "transform": {
                    "location": {
                        "x": -233.2596893310547,
                        "y": 4295.69873046875,
                        "z": 373.3351135253906
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": 0.32988446950912476,
                        "yaw": 179.87161254882812
                    }
                },
                "velocity": {
                    "x": -2.733149290084839,
                    "y": -0.008122790604829788,
                    "z": 0.010118026286363602
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.565417374484241e-05,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4323.7822265625,
                        "z": 373.115966796875
                    },
                    "rotation": {
                        "roll": -0.0001220696431118995,
                        "pitch": -0.04186905547976494,
                        "yaw": -90.03777313232422
                    }
                },
                "velocity": {
                    "x": -1.6795972612726473e-07,
                    "y": -1.6741267927500303e-06,
                    "z": 8.563764276914299e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001718857529340312,
                "transform": {
                    "location": {
                        "x": -174.26773071289062,
                        "y": 4235.2880859375,
                        "z": 372.92962646484375
                    },
                    "rotation": {
                        "roll": 0.00031283049611374736,
                        "pitch": -0.2308603823184967,
                        "yaw": -88.80764770507812
                    }
                },
                "velocity": {
                    "x": 2.055812547041569e-05,
                    "y": -5.517043064173777e-06,
                    "z": 0.0001705627073533833
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7852208018302917,
                "transform": {
                    "location": {
                        "x": -136.4445343017578,
                        "y": 4295.07177734375,
                        "z": 372.9457702636719
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": 0.23424132168293,
                        "yaw": 179.65431213378906
                    }
                },
                "velocity": {
                    "x": -0.7852033972740173,
                    "y": 0.004809646867215633,
                    "z": 0.00205791462212801
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003447878989391029,
                "transform": {
                    "location": {
                        "x": -202.3142852783203,
                        "y": 4298.896484375,
                        "z": 373.2178955078125
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.2143176645040512,
                        "yaw": -0.17364501953125
                    }
                },
                "velocity": {
                    "x": 5.300715656630928e-06,
                    "y": -1.6394304111599922e-05,
                    "z": 0.0003443571040406823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003025524492841214,
                "transform": {
                    "location": {
                        "x": -200.2238311767578,
                        "y": 4302.1416015625,
                        "z": 373.16522216796875
                    },
                    "rotation": {
                        "roll": 0.0005053584463894367,
                        "pitch": -0.21133969724178314,
                        "yaw": -0.5644225478172302
                    }
                },
                "velocity": {
                    "x": 9.643919838708825e-06,
                    "y": 1.4214266741419124e-07,
                    "z": 0.00030239869374781847
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.442983627319336,
                "transform": {
                    "location": {
                        "x": -162.06983947753906,
                        "y": 4295.2255859375,
                        "z": 373.0340270996094
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": 0.1883697807788849,
                        "yaw": 179.4358673095703
                    }
                },
                "velocity": {
                    "x": -3.4429097175598145,
                    "y": 0.019971013069152832,
                    "z": 0.010493220761418343
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.960639476776123,
                "transform": {
                    "location": {
                        "x": -176.359130859375,
                        "y": 4303.376953125,
                        "z": 373.0935363769531
                    },
                    "rotation": {
                        "roll": 1.9489223957061768,
                        "pitch": 0.022191284224390984,
                        "yaw": 112.80696105957031
                    }
                },
                "velocity": {
                    "x": -2.565096378326416,
                    "y": 7.536044597625732,
                    "z": 0.009700908325612545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3914,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.222115993499756,
                "transform": {
                    "location": {
                        "x": -148.42242431640625,
                        "y": 4295.1416015625,
                        "z": 372.9909362792969
                    },
                    "rotation": {
                        "roll": 0.00011933635687455535,
                        "pitch": 0.23023883998394012,
                        "yaw": 179.60801696777344
                    }
                },
                "velocity": {
                    "x": -4.222009181976318,
                    "y": 0.02631424181163311,
                    "z": 0.014520416036248207
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10629716515541077,
        "expert_target_speed": 10.0,
        "target_point": [
            11.530410270747751,
            -0.34119960373418523
        ],
        "target_point_next": [
            11.530410270747751,
            -0.34119960373418523
        ]
    }
}